Added approach acorn behavior

toid_behaviors/include/toid_behaviors/approach_acorns.hpp

@@ -0,0 +1,88 @@
+#pragma once
+
+#include "geometry_msgs/msg/pose.hpp"
+#include "toid_behaviors/scl.hpp"
+#include "toid_behaviors/simple_move.hpp"
+#include "toid_msgs/action/simple_move_coords.hpp"
+#include "visualization_msgs/msg/marker.hpp"
+
+namespace toid
+{
+using MoveAction = toid_msgs::action::SimpleMoveCoords;
+using PoseStamped = geometry_msgs::msg::PoseStamped;
+using namespace nav2_behaviors;
+
+class ApproachAcorns : public SimpleMove<MoveAction>
+{
+public:
+  ApproachAcorns();
+  ~ApproachAcorns();
+
+  void configureCB() override;
+
+  void activateCB() override;
+  void deactivateCB() override;
+
+  ResultStatus onStart(
+    const std::shared_ptr<const MoveAction::Goal> command, const geometry_msgs::msg::Pose & pose,
+    const geometry_msgs::msg::Twist & vel) override;
+
+  double distanceToTarget(
+    const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Point & target_point,
+    const double target_theta, bool backwards);
+
+  double velocityTarget(const double dist_left);
+
+  bool collisionDetection(
+    const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Pose & last_ok_pose);
+
+  void acorn_position_cb(PoseStamped::ConstSharedPtr msg);
+
+  ResultStatus updateVel(
+    const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & vel,
+    geometry_msgs::msg::Twist & out_vel) override;
+
+  virtual nav2_core::CostmapInfoType getResourceInfo() override
+  {
+    return nav2_core::CostmapInfoType::LOCAL;
+  }
+
+protected:
+  SmoothControlLaw scl_;
+  rclcpp::Subscription<PoseStamped>::SharedPtr acorn_pose_sub_;
+  rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::Marker>::SharedPtr target_pose_pub_;
+  std::shared_mutex mutex_;
+
+  //Goal
+  geometry_msgs::msg::Pose new_target_pose_;
+  double new_target_angle_;
+
+  geometry_msgs::msg::Pose target_pose_;
+  double target_angle_;
+  double target_sign_;
+  bool backwards_;
+  unsigned char mode_;
+
+  //State
+  double last_speed_;
+  rclcpp::Time last_seen_;
+  double distance_;
+
+  //Config
+  double max_vel_accel_;
+  double max_vel_decel_;
+  double max_vel_speed_;
+  double min_vel_speed_;
+
+  double max_angular_speed_;
+
+  double kp_;
+  double k_phi_;
+  double k_delta_;
+  double beta_;
+  double lambda_;
+  double slowdown_radius_;
+  bool debug_marker_;
+};
+
+}  // namespace toid