or_navigation.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <smacc2/smacc_orthogonal.hpp>
 
// clients
#include <nav2z_client/nav2z_client.hpp>
 
// components
#include <nav2z_client/components/goal_checker_switcher/goal_checker_switcher.hpp>
#include <nav2z_client/components/odom_tracker/odom_tracker.hpp>
#include <nav2z_client/components/planner_switcher/planner_switcher.hpp>
#include <nav2z_client/components/pose/cp_pose.hpp>
#include <nav2z_client/components/waypoints_navigator/waypoints_navigator.hpp>
#include <nav2z_client/components/amcl/amcl.hpp>
 
#include <ament_index_cpp/get_package_share_directory.hpp>
 
namespace sm_aws_warehouse_navigation
{
using namespace cl_nav2z;
 
class OrNavigation : public smacc2::Orthogonal<OrNavigation>
{
public:
  void onInitialize() override
  {
    auto roslaunchClient =this->createClient<smacc2::client_bases::ClRosLaunch>("sm_aws_warehouse_navigation", "navigation_launch.py");
 
    auto movebaseClient = this->createClient<cl_nav2z::ClNav2Z>();
 
    // create pose component
    movebaseClient->createComponent<cl_nav2z::Pose>(StandardReferenceFrames::Map);
 
    // create planner switcher
    movebaseClient->createComponent<cl_nav2z::PlannerSwitcher>();
 
    // create goal checker switcher
    movebaseClient->createComponent<cl_nav2z::GoalCheckerSwitcher>();
 
    // create odom tracker
    movebaseClient->createComponent<cl_nav2z::odom_tracker::OdomTracker>();
 
    movebaseClient->createComponent<cl_nav2z::Amcl>();
 
    // create waypoints navigator component
    // auto waypointsNavigator = movebaseClient->createComponent<cl_nav2z::WaypointNavigator>();
    // loadWaypointsFromYaml(waypointsNavigator);
 
    // // change this to skip some points of the yaml file, default = 0
    // waypointsNavigator->currentWaypoint_ = 0;
  }
 
  void loadWaypointsFromYaml(WaypointNavigator * waypointsNavigator)
  {
    // if it is the first time and the waypoints navigator is not configured
    std::string planfilepath;
    getNode()->declare_parameter("waypoints_plan_2", planfilepath);
    if (getNode()->get_parameter("waypoints_plan_2", planfilepath))
    {
      std::string package_share_directory =
        ament_index_cpp::get_package_share_directory("sm_aws_warehouse_navigation");
      boost::replace_all(planfilepath, "$(pkg_share)", package_share_directory);
 
      waypointsNavigator->loadWayPointsFromFile2(planfilepath);
      RCLCPP_INFO(getLogger(), "waypoints plan: %s", planfilepath.c_str());
    }
    else
    {
      RCLCPP_ERROR(getLogger(), "waypoints plan file not found: NONE");
      exit(0);
    }
  }
};
}  // namespace sm_aws_warehouse_navigation