toid_behaviors/CMakeLists.txt

@@ -32,6 +32,7 @@ set(
   src/simple_move.cpp
   src/simple_rotate.cpp
   src/simple_translate_x.cpp
+  src/approach_acorns.cpp
 )
 
 find_package(ament_cmake REQUIRED)

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

toid_behaviors/src/approach_acorns.cpp

@@ -0,0 +1,286 @@
+#include "toid_behaviors/approach_acorns.hpp"
+
+#include "angles/angles.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
+namespace toid
+{
+
+ApproachAcorns::ApproachAcorns() : SimpleMove<MoveAction>() {}
+ApproachAcorns::~ApproachAcorns() {}
+
+void ApproachAcorns::configureCB()
+{
+  auto node = node_.lock();
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_vel_accel", rclcpp::ParameterValue(2.0));
+  node->get_parameter(behavior_name_ + ".max_vel_accel", max_vel_accel_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_vel_decel", rclcpp::ParameterValue(1.0));
+  node->get_parameter(behavior_name_ + ".max_vel_decel", max_vel_decel_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_vel_speed", rclcpp::ParameterValue(0.4));
+  node->get_parameter(behavior_name_ + ".max_vel_speed", max_vel_speed_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".min_vel_speed", rclcpp::ParameterValue(0.10));
+  node->get_parameter(behavior_name_ + ".min_vel_speed", min_vel_speed_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_angular_speed", rclcpp::ParameterValue(1.0));
+  node->get_parameter(behavior_name_ + ".max_angular_speed", max_angular_speed_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".kp", rclcpp::ParameterValue(5.0));
+  node->get_parameter(behavior_name_ + ".kp", kp_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".kphi", rclcpp::ParameterValue(5.0));
+  node->get_parameter(behavior_name_ + ".kphi", k_phi_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".kdelta", rclcpp::ParameterValue(2.0));
+  node->get_parameter(behavior_name_ + ".kdelta", k_delta_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".beta", rclcpp::ParameterValue(0.4));
+  node->get_parameter(behavior_name_ + ".beta", beta_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".lambda", rclcpp::ParameterValue(2.0));
+  node->get_parameter(behavior_name_ + ".lambda", lambda_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".slow_down_radius", rclcpp::ParameterValue(0.20));
+  node->get_parameter(behavior_name_ + ".slow_down_radius", slowdown_radius_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".debug_marker", rclcpp::ParameterValue(false));
+  node->get_parameter(behavior_name_ + ".debug_marker", debug_marker_);
+
+  target_pose_pub_ = node->create_publisher<visualization_msgs::msg::Marker>("marker", 1);
+}
+
+void ApproachAcorns::activateCB()
+{
+  auto node = node_.lock();
+  using namespace std::placeholders;
+  acorn_pose_sub_ = node->create_subscription<PoseStamped>(
+    "closest_acorn", rclcpp::QoS(1), std::bind(&ApproachAcorns::acorn_position_cb, this, _1));
+  target_pose_pub_->on_activate();
+  distance_ = 1.0;
+}
+
+void ApproachAcorns::deactivateCB() { 
+    acorn_pose_sub_.reset(); 
+    target_pose_pub_->on_deactivate();
+}
+
+void ApproachAcorns::acorn_position_cb(PoseStamped::ConstSharedPtr msg)
+{
+  geometry_msgs::msg::PoseStamped pose_local;
+  geometry_msgs::msg::PoseStamped pose_global;
+  try {
+    pose_local = tf_->transform(*msg, robot_base_frame_);
+    pose_global = tf_->transform(*msg, global_frame_);
+  } catch (const tf2::TransformException & e) {
+    RCLCPP_ERROR_ONCE(logger_, "Transform timeout [showing once]...");
+    return;
+  }
+  double x = pose_local.pose.position.x;
+  double y = pose_local.pose.position.y;
+  if (x * x + y * y > distance_ + 0.01) {
+    return;
+  }
+
+
+  double yaw = tf2::getYaw(pose_global.pose.orientation);
+
+  if (yaw < 0) {
+    angles::normalize_angle(yaw + M_PI / 2);
+  }
+
+  pose_global.pose.position.x += std::cos(yaw) * 0.01 + std::sin(yaw) * -0.20;
+  pose_global.pose.position.y += -std::cos(yaw) * 0.01 + std::cos(yaw) * -0.20;
+  tf2::convert(tf2::Quaternion::createFromRPY(0,0,yaw), pose_global.pose.orientation);
+
+  if(debug_marker_) {
+    visualization_msgs::msg::Marker marker;
+    marker.lifetime.sec = 1.0;
+    marker.header = pose_global.header;
+    marker.pose = pose_global.pose;
+    marker.type = visualization_msgs::msg::Marker::SPHERE;
+    marker.scale.x = 0.02;
+    marker.scale.y = 0.02;
+    marker.scale.z = 0.02;
+    marker.color.a = 1.0;
+    marker.color.r = 1.0;
+    marker.color.g = 0;
+    marker.color.b = 0;
+    target_pose_pub_->publish(marker);
+  }
+
+  std::lock_guard _lock(mutex_);
+  distance_ = x * x + y * y;
+  new_target_pose_ = pose_global.pose;
+  new_target_angle_ = yaw;
+}
+
+ResultStatus ApproachAcorns::onStart(
+  const std::shared_ptr<const MoveAction::Goal> command, const geometry_msgs::msg::Pose &,
+  const geometry_msgs::msg::Twist & vel)
+{
+
+  std::lock_guard _lock(mutex_);
+  distance_ = 1.0;
+  new_target_pose_.position.x = command->x;
+  new_target_pose_.position.y = command->y;
+  backwards_ = command->backwards;
+
+  new_target_pose_.orientation = tf2::toMsg(tf2::Quaternion::createFromRPY(0, 0, command->theta));
+  new_target_angle_ = command->theta;
+  target_sign_ = backwards_ ? -1.0 : 1.0;
+  max_vel_speed_ = command->max_speed;
+
+  if (command->max_speed == 0) {
+    auto node = node_.lock();
+    node->get_parameter(behavior_name_ + ".max_vel_speed", max_vel_speed_);
+  }
+
+  mode_ = command->mode;
+
+  scl_.k_phi = k_phi_;
+  scl_.k_delta = k_delta_;
+  scl_.bbeta = beta_;
+  scl_.lam = lambda_;
+  scl_.slowdown_radius = slowdown_radius_;
+  scl_.v_angular_max = max_angular_speed_;
+  scl_.v_linear_min = min_vel_speed_;
+  scl_.v_linear_max = max_vel_speed_;
+
+  last_speed_ = vel.angular.x;
+
+  return ResultStatus{Status::SUCCEEDED};
+}
+
+double ApproachAcorns::distanceToTarget(
+  const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Point & target_point,
+  const double target_theta, bool backwards)
+{
+  const double dx = target_point.x - pose.position.x;
+  const double dy = target_point.y - pose.position.y;
+  const double target_sign = backwards ? -1.0 : 1.0;
+
+  return target_sign * (dx * cos(target_theta) + dy * sin(target_theta));
+}
+
+double ApproachAcorns::velocityTarget(const double dist_left)
+{
+  const double lower_bound = last_speed_ - control_duration_ * max_vel_accel_;
+  const double upper_bound = last_speed_ + control_duration_ * max_vel_accel_;
+
+  double vel = max_vel_speed_;
+  double max_vel_to_stop = 0.8 * std::sqrt(2.0 * max_vel_decel_ * dist_left);
+  vel = std::min(vel, max_vel_to_stop);
+  return std::clamp(target_sign_ * vel, lower_bound, upper_bound);
+}
+
+bool ApproachAcorns::collisionDetection(
+  const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Pose & last_ok_pose)
+{
+  const int samples = static_cast<int>(0.5 / control_duration_);
+  geometry_msgs::msg::Pose current_pose = pose;
+  last_ok_pose = pose;
+  const bool check_map = !(mode_ & MoveAction::Goal::IGNORE_OBSTACLES);
+  for (int i = 0; i < samples; i++) {
+    scl_.step(target_pose_, current_pose, control_duration_, backwards_);
+
+    geometry_msgs::msg::Pose2D p;
+    p.x = current_pose.position.x;
+    p.y = current_pose.position.y;
+    p.theta = tf2::getYaw(current_pose.orientation);
+
+    if (check_map && !local_collision_checker_->isCollisionFree(p, i == 0)) {
+      return true;
+    }
+
+    if (check_rival_collision(p)) {
+      return true;
+    }
+
+    last_ok_pose = current_pose;
+    const double dist_left =
+      distanceToTarget(current_pose, target_pose_.position, target_angle_, backwards_);
+    if (dist_left < 0.005) {
+      return false;
+    }
+  }
+  return false;
+}
+
+ResultStatus ApproachAcorns::updateVel(
+  const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist &,
+  geometry_msgs::msg::Twist & out_vel)
+{
+
+  {
+    std::lock_guard _lock(mutex_);
+    target_pose_ = new_target_pose_;
+    target_angle_ = new_target_angle_;
+  }
+
+  double dist_left = distanceToTarget(pose, target_pose_.position, target_angle_, backwards_);
+
+  if (dist_left <= 0.001) {
+    out_vel.linear.x = 0;
+    out_vel.angular.z = 0;
+    return ResultStatus{Status::SUCCEEDED};
+  }
+
+  const double current_yaw = tf2::getYaw(pose.orientation);
+  double angle_dist = angles::shortest_angular_distance(current_yaw, target_angle_);
+
+  geometry_msgs::msg::Pose last_ok_pose;
+  if (collisionDetection(pose, last_ok_pose)) {
+    dist_left = distanceToTarget(
+      pose, last_ok_pose.position, tf2::getYaw(last_ok_pose.orientation), backwards_);
+    if (dist_left <= 0.02) {
+      out_vel.linear.x = 0;
+      out_vel.angular.z = 0;
+    } else {
+      scl_.v_linear_max = target_sign_ * velocityTarget(dist_left);
+      scl_.calculate_vel(last_ok_pose, pose, out_vel, backwards_);
+    }
+
+    last_speed_ = out_vel.linear.x;
+
+    RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 1000, "Distance Left: %lf", dist_left);
+    RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 1000, "Max Speed: %lf", scl_.v_linear_max);
+
+    return ResultStatus{Status::RUNNING};
+  }
+
+  if (dist_left <= 0.02) {
+    out_vel.linear.x = velocityTarget(dist_left);
+    out_vel.angular.z = std::clamp(kp_ * angle_dist, -max_angular_speed_, max_angular_speed_);
+    last_speed_ = out_vel.linear.x;
+    return ResultStatus{Status::RUNNING};
+  }
+
+  scl_.v_linear_max = target_sign_ * velocityTarget(dist_left);
+  scl_.calculate_vel(target_pose_, pose, out_vel, backwards_);
+
+  last_speed_ = out_vel.linear.x;
+
+  RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 1000, "Distance Left: %lf", dist_left);
+  RCLCPP_DEBUG_THROTTLE(logger_, *clock_, 1000, "Max Speed: %lf", scl_.v_linear_max);
+
+  return ResultStatus{Status::RUNNING};
+}
+
+}  // namespace toid
+
+#include "pluginlib/class_list_macros.hpp"
+PLUGINLIB_EXPORT_CLASS(toid::ApproachAcorns, nav2_core::Behavior);

toid_behaviors/toid_behaviors.xml

@@ -9,5 +9,8 @@
         <class type="toid::MoveCoords" base_class_type="nav2_core::Behavior">
             <description></description>
         </class>
+        <class type="toid::ApproachAcorns" base_class_type="nav2_core::Behavior">
+            <description></description>
+        </class>
     </library>
 </class_libraries>

toid_navigation/params/toid_general_params.yaml

@@ -22,7 +22,7 @@ behavior_server:
     local_footprint_topic: local_costmap/published_footprint
     global_footprint_topic: global_costmap/published_footprint
     cycle_frequency: 50.0
-    behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords"]
+    behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns"]
     spin:
       plugin: "nav2_behaviors::Spin"
     backup:
@@ -35,6 +35,8 @@ behavior_server:
       plugin: "toid::SimpleTranslateXBehavior"
     moveCoords:
       plugin: "toid::MoveCoords"
+    approachAcorns:
+      plugin: "toid::ApproachAcorns"
     local_frame: map
     global_frame: map
     robot_base_frame: base_footprint