trajectory_follower_wrapper_node.hpp

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/*
 * Copyright (C) 2024 LEIDOS.
 *
 * 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 <rclcpp/rclcpp.hpp>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_guidance_plugins/control_plugin.hpp>
#include <autoware_auto_msgs/msg/vehicle_kinematic_state.hpp>
#include <autoware_auto_msgs/msg/vehicle_control_command.hpp>
#include <autoware_auto_msgs/msg/trajectory.hpp>
#include <autoware_auto_msgs/msg/ackermann_control_command.hpp>
#include <gtest/gtest_prod.h>
#include <basic_autonomy/basic_autonomy.hpp>
#include <carma_guidance_plugins/control_plugin.hpp>
#include <optional>
#include "trajectory_follower_wrapper/trajectory_follower_wrapper_config.hpp"
 
constexpr double EPSILON = 0.0001;
 
namespace trajectory_follower_wrapper
{
 
  class TrajectoryFollowerWrapperNode : public carma_guidance_plugins::ControlPlugin
  {
 
  private:
    // Subscribers
    carma_ros2_utils::SubPtr<autoware_auto_msgs::msg::AckermannControlCommand> control_cmd_sub_;
 
    // Publishers
    carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::Trajectory> autoware_traj_pub_;
    carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::VehicleKinematicState> autoware_state_pub_;
 
    // Timers
    rclcpp::TimerBase::SharedPtr autoware_info_timer_;
 
    // Received Control Command
    std::optional<autoware_auto_msgs::msg::AckermannControlCommand> received_ctrl_command_;
 
  public:
 
    explicit TrajectoryFollowerWrapperNode(const rclcpp::NodeOptions& options);
 
    rcl_interfaces::msg::SetParametersResult
    parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
    void autoware_info_timer_callback();
 
    void ackermann_control_cb(const autoware_auto_msgs::msg::AckermannControlCommand::SharedPtr msg);
 
    bool isControlCommandOld(const autoware_auto_msgs::msg::AckermannControlCommand& cmd) const;
 
    // Node configuration
    TrajectoryFollowerWrapperConfig config_;
 
    //CONVERSIONS
 
    autoware_auto_msgs::msg::VehicleKinematicState convert_state(const geometry_msgs::msg::PoseStamped& pose, const geometry_msgs::msg::TwistStamped& twist) const;
 
    autoware_msgs::msg::ControlCommandStamped convert_cmd(const autoware_auto_msgs::msg::AckermannControlCommand& cmd) const;
 
    double get_wheel_angle_rad_from_twist(const geometry_msgs::msg::TwistStamped& twist) const;
 
 
 
    // Overrides
    autoware_msgs::msg::ControlCommandStamped generate_command() override;
 
    bool get_availability() override;
 
    std::string get_version_id() override;
 
    carma_ros2_utils::CallbackReturn on_configure_plugin() override;
 
    FRIEND_TEST(TesttrajectoryFollowerWrapper, TestControlCallback);
    FRIEND_TEST(TesttrajectoryFollowerWrapper, TestThreshold);
 
  };
 
} // trajectory_follower_wrapper