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AUTO-2570 Use odom based pose stream for CAPTURE #39

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Jun 11, 2024
Merged

AUTO-2570 Use odom based pose stream for CAPTURE #39

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4 changes: 4 additions & 0 deletions ...ller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "geometry_msgs/msg/pose2_d.hpp"
#include "std_msgs/msg/bool.hpp"
#include "nav2_regulated_pure_pursuit_controller/path_handler.hpp"
#include "nav2_regulated_pure_pursuit_controller/collision_checker.hpp"
#include "nav2_regulated_pure_pursuit_controller/parameter_handler.hpp"
Expand Down Expand Up @@ -218,12 +219,15 @@ class RegulatedPurePursuitController : public nav2_core::Controller
double control_duration_;
bool cancelling_ = false;
bool finished_cancelling_ = false;
bool is_rotating_to_heading_ = false;

std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_path_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PointStamped>>
carrot_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PointStamped>>
curvature_carrot_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Bool>>
is_rotating_to_heading_pub_;
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> carrot_arc_pub_;
std::unique_ptr<nav2_regulated_pure_pursuit_controller::PathHandler> path_handler_;
std::unique_ptr<nav2_regulated_pure_pursuit_controller::ParameterHandler> param_handler_;
Expand Down
13 changes: 13 additions & 0 deletions nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@ void RegulatedPurePursuitController::configure(
carrot_pub_ = node->create_publisher<geometry_msgs::msg::PointStamped>("lookahead_point", 1);
curvature_carrot_pub_ = node->create_publisher<geometry_msgs::msg::PointStamped>(
"curvature_lookahead_point", 1);
is_rotating_to_heading_pub_ = node->create_publisher<std_msgs::msg::Bool>(
"is_rotating_to_heading", 1);
}

void RegulatedPurePursuitController::cleanup()
Expand All @@ -88,6 +90,7 @@ void RegulatedPurePursuitController::cleanup()
global_path_pub_.reset();
carrot_pub_.reset();
curvature_carrot_pub_.reset();
is_rotating_to_heading_pub_.reset();
}

void RegulatedPurePursuitController::activate()
Expand All @@ -100,6 +103,7 @@ void RegulatedPurePursuitController::activate()
global_path_pub_->on_activate();
carrot_pub_->on_activate();
curvature_carrot_pub_->on_activate();
is_rotating_to_heading_pub_->on_activate();
}

void RegulatedPurePursuitController::deactivate()
Expand All @@ -112,6 +116,7 @@ void RegulatedPurePursuitController::deactivate()
global_path_pub_->on_deactivate();
carrot_pub_->on_deactivate();
curvature_carrot_pub_->on_deactivate();
is_rotating_to_heading_pub_->on_deactivate();
}

std::unique_ptr<geometry_msgs::msg::PointStamped> RegulatedPurePursuitController::createCarrotMsg(
Expand Down Expand Up @@ -228,11 +233,14 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
// - otherwise equal to curvature_lookahead_pose (which can be interpolated after goal)
double angle_to_heading;
if (shouldRotateToGoalHeading(carrot_pose)) {
is_rotating_to_heading_ = true;
double angle_to_goal = tf2::getYaw(transformed_plan.poses.back().pose.orientation);
rotateToHeading(linear_vel, angular_vel, angle_to_goal, speed);
} else if (shouldRotateToPath(rotate_to_path_carrot_pose, angle_to_heading, x_vel_sign)) {
is_rotating_to_heading_ = true;
rotateToHeading(linear_vel, angular_vel, angle_to_heading, speed);
} else {
is_rotating_to_heading_ = false;
applyConstraints(
regulation_curvature, speed,
collision_checker_->costAtPose(pose.pose.position.x, pose.pose.position.y), transformed_plan,
Expand Down Expand Up @@ -267,6 +275,11 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
throw nav2_core::NoValidControl("RegulatedPurePursuitController detected collision ahead!");
}

// Publish whether we are rotating to goal heading
std_msgs::msg::Bool is_rotating_to_heading_msg;
is_rotating_to_heading_msg.data = is_rotating_to_heading_;
is_rotating_to_heading_pub_->publish(is_rotating_to_heading_msg);

// populate and return message
geometry_msgs::msg::TwistStamped cmd_vel;
cmd_vel.header = pose.header;
Expand Down
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