cb_navigate_global_position.cpp

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#include <move_base_z_client_plugin/client_behaviors/cb_navigate_global_position.h>
#include <move_base_z_client_plugin/components/odom_tracker/odom_tracker.h>
#include <move_base_z_client_plugin/components/planner_switcher/planner_switcher.h>
#include <move_base_z_client_plugin/components/pose/cp_pose.h>
 
namespace cl_move_base_z
{
using namespace ::cl_move_base_z::odom_tracker;
 
CbNavigateGlobalPosition::CbNavigateGlobalPosition()
{
}
 
CbNavigateGlobalPosition::CbNavigateGlobalPosition(float x, float y, float yaw)
{
  auto p = geometry_msgs::Point();
  p.x = x;
  p.y = y;
  goalPosition = p;
  goalYaw = yaw;
}
 
void CbNavigateGlobalPosition::setGoal(const geometry_msgs::Pose &pose)
{
  goalPosition = pose.position;
  goalYaw = tf::getYaw(pose.orientation);
}
 
void CbNavigateGlobalPosition::onEntry()
{
  ROS_INFO("[CbNavigateGlobalPosition] Entering Navigate Global position");
 
  auto plannerSwitcher = moveBaseClient_->getComponent<PlannerSwitcher>();
  plannerSwitcher->setDefaultPlanners();
 
  auto pose = moveBaseClient_->getComponent<cl_move_base_z::Pose>()->toPoseMsg();
  auto *odomTracker = moveBaseClient_->getComponent<OdomTracker>();
 
  odomTracker->pushPath("FreeNavigationToGoalPose");
  odomTracker->setStartPoint(pose);
  odomTracker->setWorkingMode(WorkingMode::RECORD_PATH);
 
  execute();
}
 
// auxiliary function that defines the motion that is requested to the move_base action server
void CbNavigateGlobalPosition::execute()
{
  auto p = moveBaseClient_->getComponent<cl_move_base_z::Pose>();
  auto referenceFrame = p->getReferenceFrame();
  auto currentPoseMsg = p->toPoseMsg();
 
  ROS_INFO("Sending Goal to MoveBase");
  ClMoveBaseZ::Goal goal;
  goal.target_pose.header.frame_id = referenceFrame;
  goal.target_pose.header.stamp = ros::Time::now();
  readStartPoseFromParameterServer(goal);
 
  // store the start pose on the state machine storage so that it can
  // be referenced from other states (for example return to radial start)
  this->getStateMachine()->setGlobalSMData("radial_start_pose", goal.target_pose);
 
  moveBaseClient_->sendGoal(goal);
}
 
void CbNavigateGlobalPosition::readStartPoseFromParameterServer(ClMoveBaseZ::Goal &goal)
{
  if (!goalPosition)
  {
    this->getCurrentState()->getParam("start_position_x", goal.target_pose.pose.position.x);
    this->getCurrentState()->getParam("start_position_y", goal.target_pose.pose.position.y);
    double yaw;
    this->getCurrentState()->getParam("start_position_yaw", yaw);
 
    goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
  }
  else
  {
    goal.target_pose.pose.position = *goalPosition;
    goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(*goalYaw);
  }
 
  ROS_INFO_STREAM("start position read from parameter server: " << goal.target_pose.pose.position);
}
 
// This is the substate destructor. This code will be executed when the
// workflow exits from this substate (that is according to statechart the moment when this object is destroyed)
void CbNavigateGlobalPosition::onExit()
{
  ROS_INFO("Exiting move goal Action Client");
}
 
}  // namespace cl_move_base_z