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cl_nav2z::forward_global_planner::ForwardGlobalPlanner Class Reference

#include <forward_global_planner.hpp>

Inheritance diagram for cl_nav2z::forward_global_planner::ForwardGlobalPlanner:
Inheritance graph
Collaboration diagram for cl_nav2z::forward_global_planner::ForwardGlobalPlanner:
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Public Types

using Ptr = std::shared_ptr< ForwardGlobalPlanner >
 

Public Member Functions

 ForwardGlobalPlanner ()
 
virtual ~ForwardGlobalPlanner ()
 Virtual destructor. More...
 
void configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, const std::shared_ptr< tf2_ros::Buffer > tf, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
 
virtual void cleanup ()
 Method to cleanup resources used on shutdown. More...
 
virtual void activate ()
 Method to active planner and any threads involved in execution. More...
 
virtual void deactivate ()
 Method to deactivate planner and any threads involved in execution. More...
 
virtual nav_msgs::msg::Path createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal)
 Method create the plan from a starting and ending goal. More...
 

Private Attributes

rclcpp_lifecycle::LifecycleNode::SharedPtr nh_
 
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > > planPub_
 
std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros_
 stored but almost not used More...
 
double skip_straight_motion_distance_
 
double puresSpinningRadStep_
 
std::string name_
 
double transform_tolerance_
 
std::shared_ptr< tf2_ros::Buffer > tf_
 

Detailed Description

Definition at line 33 of file forward_global_planner.hpp.

Member Typedef Documentation

◆ Ptr

Definition at line 36 of file forward_global_planner.hpp.

Constructor & Destructor Documentation

◆ ForwardGlobalPlanner()

cl_nav2z::forward_global_planner::ForwardGlobalPlanner::ForwardGlobalPlanner ( )

◆ ~ForwardGlobalPlanner()

cl_nav2z::forward_global_planner::ForwardGlobalPlanner::~ForwardGlobalPlanner ( )
virtual

Virtual destructor.

Definition at line 49 of file forward_global_planner.cpp.

49{}

Member Function Documentation

◆ activate()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::activate ( )
virtual

Method to active planner and any threads involved in execution.

Definition at line 70 of file forward_global_planner.cpp.

70{ planPub_->on_activate(); }
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > > planPub_

References planPub_.

◆ cleanup()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::cleanup ( )
virtual

Method to cleanup resources used on shutdown.

Definition at line 68 of file forward_global_planner.cpp.

68{}

◆ configure()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::configure ( const rclcpp_lifecycle::LifecycleNode::WeakPtr &  parent,
std::string  name,
const std::shared_ptr< tf2_ros::Buffer >  tf,
const std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros 
)
override
Parameters
parentpointer to user's node
nameThe name of this planner
tfA pointer to a TF buffer
costmap_rosA pointer to the costmap

Definition at line 51 of file forward_global_planner.cpp.

55{
56 nh_ = parent.lock();
57 tf_ = tf;
58 name_ = name;
59 costmap_ros_ = costmap_ros;
60
61 RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] initializing");
62 planPub_ = nh_->create_publisher<nav_msgs::msg::Path>("global_plan", 1);
63 skip_straight_motion_distance_ = 0.2; // meters
64 puresSpinningRadStep_ = 1000; // rads
66}
std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros_
stored but almost not used

References costmap_ros_, name_, nh_, planPub_, puresSpinningRadStep_, skip_straight_motion_distance_, tf_, and transform_tolerance_.

◆ createPlan()

nav_msgs::msg::Path cl_nav2z::forward_global_planner::ForwardGlobalPlanner::createPlan ( const geometry_msgs::msg::PoseStamped &  start,
const geometry_msgs::msg::PoseStamped &  goal 
)
virtual

Method create the plan from a starting and ending goal.

Parameters
startThe starting pose of the robot
goalThe goal pose of the robot
Returns
The sequence of poses to get from start to goal, if any

Definition at line 79 of file forward_global_planner.cpp.

81{
82 RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] planning");
83
84 rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_);
85 //---------------------------------------------------------------------
86 geometry_msgs::msg::PoseStamped transformedStart;
87 nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), start, transformedStart, ttol);
88 transformedStart.header.frame_id = costmap_ros_->getGlobalFrameID();
89 //---------------------------------------------------------------------
90 geometry_msgs::msg::PoseStamped transformedGoal;
91 nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), goal, transformedGoal, ttol);
92 transformedGoal.header.frame_id = costmap_ros_->getGlobalFrameID();
93 //---------------------------------------------------------------------
94
95 nav_msgs::msg::Path planMsg;
96 std::vector<geometry_msgs::msg::PoseStamped> plan;
97
98 // three stages: 1 - heading to goal position, 2 - going forward keep orientation, 3 - heading to goal orientation
99
100 // 1 - heading to goal position
101 // orientation direction
102
103 double dx = transformedGoal.pose.position.x - transformedStart.pose.position.x;
104 double dy = transformedGoal.pose.position.y - transformedStart.pose.position.y;
105
106 double length = sqrt(dx * dx + dy * dy);
107
108 geometry_msgs::msg::PoseStamped prevState;
110 {
111 // skip initial pure spinning and initial straight motion
112 // RCLCPP_INFO(nh_->get_logger(),"1 - heading to goal position pure spinning");
113 double heading_direction = atan2(dy, dx);
115 transformedStart, heading_direction, plan, puresSpinningRadStep_);
116
117 // RCLCPP_INFO(nh_->get_logger(), "2 - going forward keep orientation pure straight");
118 prevState =
119 cl_nav2z::makePureStraightSubPlan(prevState, transformedGoal.pose.position, length, plan);
120 }
121 else
122 {
123 prevState = transformedStart;
124 }
125
126 // RCLCPP_INFO(nh_->get_logger(),"3 - heading to goal orientation");
127 double goalOrientation = angles::normalize_angle(tf2::getYaw(transformedGoal.pose.orientation));
128 cl_nav2z::makePureSpinningSubPlan(prevState, goalOrientation, plan, puresSpinningRadStep_);
129 planMsg.poses = plan;
130 planMsg.header.stamp = this->nh_->now();
131 planMsg.header.frame_id = this->costmap_ros_->getGlobalFrameID();
132
133 RCLCPP_INFO_STREAM(
134 nh_->get_logger(), "[Forward Global Planner] generated plan size: " << plan.size());
135
136 // check plan rejection
137 bool acceptedGlobalPlan = true;
138
139 RCLCPP_INFO(
140 nh_->get_logger(), "[Forward Global Planner] checking obstacles in the generated plan");
141 nav2_costmap_2d::Costmap2D * costmap2d = this->costmap_ros_->getCostmap();
142 for (auto & p : plan)
143 {
144 unsigned int mx, my;
145 costmap2d->worldToMap(p.pose.position.x, p.pose.position.y, mx, my);
146 auto cost = costmap2d->getCost(mx, my);
147
148 // static const unsigned char NO_INFORMATION = 255;
149 // static const unsigned char LETHAL_OBSTACLE = 254;
150 // static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
151 // static const unsigned char FREE_SPACE = 0;
152
153 if (cost >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
154 {
155 RCLCPP_INFO_STREAM(
156 nh_->get_logger(), "[Forward Global Planner] pose " << p.pose.position.x << ", "
157 << p.pose.position.y
158 << " rejected, cost: " << cost);
159 acceptedGlobalPlan = false;
160 break;
161 }
162 }
163
164 if (acceptedGlobalPlan)
165 {
166 RCLCPP_INFO_STREAM(
167 nh_->get_logger(), "[Forward Global Planner] accepted plan: " << plan.size());
168 planPub_->publish(planMsg);
169 return planMsg;
170 }
171 else
172 {
173 RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] plan rejected");
174 planMsg.poses.clear();
175 planPub_->publish(planMsg);
176 return planMsg;
177 }
178}
geometry_msgs::msg::PoseStamped makePureSpinningSubPlan(const geometry_msgs::msg::PoseStamped &start, double dstRads, std::vector< geometry_msgs::msg::PoseStamped > &plan, double radstep=0.005)
Definition: common.cpp:37
geometry_msgs::msg::PoseStamped makePureStraightSubPlan(const geometry_msgs::msg::PoseStamped &startOrientedPose, const geometry_msgs::msg::Point &goal, double length, std::vector< geometry_msgs::msg::PoseStamped > &plan)
Definition: common.cpp:93

References costmap_ros_, cl_nav2z::makePureSpinningSubPlan(), cl_nav2z::makePureStraightSubPlan(), nh_, planPub_, puresSpinningRadStep_, skip_straight_motion_distance_, tf_, and transform_tolerance_.

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◆ deactivate()

void cl_nav2z::forward_global_planner::ForwardGlobalPlanner::deactivate ( )
virtual

Method to deactivate planner and any threads involved in execution.

Definition at line 72 of file forward_global_planner.cpp.

73{
74 nav_msgs::msg::Path planMsg;
75 planPub_->publish(planMsg);
76 planPub_->on_deactivate();
77}

References planPub_.

Member Data Documentation

◆ costmap_ros_

std::shared_ptr<nav2_costmap_2d::Costmap2DROS> cl_nav2z::forward_global_planner::ForwardGlobalPlanner::costmap_ros_
private

stored but almost not used

Definition at line 87 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ name_

std::string cl_nav2z::forward_global_planner::ForwardGlobalPlanner::name_
private

Definition at line 93 of file forward_global_planner.hpp.

Referenced by configure().

◆ nh_

rclcpp_lifecycle::LifecycleNode::SharedPtr cl_nav2z::forward_global_planner::ForwardGlobalPlanner::nh_
private

Definition at line 82 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ planPub_

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path> > cl_nav2z::forward_global_planner::ForwardGlobalPlanner::planPub_
private

Definition at line 84 of file forward_global_planner.hpp.

Referenced by activate(), configure(), createPlan(), and deactivate().

◆ puresSpinningRadStep_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::puresSpinningRadStep_
private

Definition at line 91 of file forward_global_planner.hpp.

Referenced by configure(), createPlan(), and ForwardGlobalPlanner().

◆ skip_straight_motion_distance_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::skip_straight_motion_distance_
private

Definition at line 89 of file forward_global_planner.hpp.

Referenced by configure(), createPlan(), and ForwardGlobalPlanner().

◆ tf_

std::shared_ptr<tf2_ros::Buffer> cl_nav2z::forward_global_planner::ForwardGlobalPlanner::tf_
private

Definition at line 97 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().

◆ transform_tolerance_

double cl_nav2z::forward_global_planner::ForwardGlobalPlanner::transform_tolerance_
private

Definition at line 95 of file forward_global_planner.hpp.

Referenced by configure(), and createPlan().


The documentation for this class was generated from the following files: