.clang-format

@@ -0,0 +1,19 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

toid_behaviors/CMakeLists.txt

@@ -0,0 +1,82 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_behaviors)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_behaviors)
+
+set(
+  PACKAGE_DEPS
+
+  rclcpp
+  angles
+  geometry_msgs
+  pluginlib
+  nav_msgs
+  nav2_core
+  nav2_behaviors
+  nav2_costmap_2d
+  nav2_util
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  toid_msgs
+)
+
+set(
+  SOURCES
+  src/simple_move.cpp
+  src/simple_rotate.cpp
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+add_library(${library_name} SHARED ${SOURCES})
+
+target_include_directories(
+  ${library_name} 
+  PRIVATE 
+
+  include
+)
+
+ament_target_dependencies(
+  ${library_name}
+  ${PACKAGE_DEPS}
+)
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin 
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+pluginlib_export_plugin_description_file(nav2_core toid_behaviors.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

toid_behaviors/LICENSE

@@ -0,0 +1,202 @@
+
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+
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toid_behaviors/include/toid_behaviors/simple_move.hpp

@@ -0,0 +1,104 @@
+#pragma once
+#include "nav2_behaviors/timed_behavior.hpp"
+#include "nav2_core/behavior.hpp"
+#include "nav2_util/node_utils.hpp"
+#include "nav2_util/twist_publisher.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "toid_msgs/action/simple_rotate.hpp"
+
+namespace toid
+{
+
+template <typename ActionT>
+class SimpleMove : public nav2_behaviors::TimedBehavior<ActionT>
+{
+public:
+  virtual void configureCB() {}
+  virtual void cleanupCB() {}
+
+  virtual void activateCB() {}
+  virtual void deactivateCB() {}
+
+  virtual nav2_behaviors::ResultStatus onStart(
+    const std::shared_ptr<const typename ActionT::Goal> command,
+    const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & vel) = 0;
+
+  virtual nav2_behaviors::ResultStatus updateVel(
+    const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & vel,
+    geometry_msgs::msg::Twist & out_vel) = 0;
+
+  void onConfigure() override
+  {
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node = this->node_.lock();
+    nav2_util::declare_parameter_if_not_declared(
+      node, "odom_topic", rclcpp::ParameterValue("/odom"));
+    std::string odom_topic_name = node->get_parameter("odom_topic").as_string();
+    odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
+      odom_topic_name, 1, [&](nav_msgs::msg::Odometry msg) {
+        std::lock_guard lock(mut_);
+        current_pose_ = msg.pose.pose;
+        current_vel_ = msg.twist.twist;
+      });
+    control_duration_ = 1.0 / this->cycle_frequency_;
+  }
+
+  void onCleanup() override
+  {
+    odom_sub_.reset();
+    cleanupCB();
+  }
+
+  void activate() override
+  {
+    nav2_behaviors::TimedBehavior<ActionT>::activate();
+    activateCB();
+  }
+
+  void deactivate() override
+  {
+    nav2_behaviors::TimedBehavior<ActionT>::deactivate();
+    deactivateCB();
+  }
+
+  nav2_behaviors::ResultStatus onRun(
+    const std::shared_ptr<const typename ActionT::Goal> command) override
+  {
+    geometry_msgs::msg::Pose pose;
+    geometry_msgs::msg::Twist vel;
+    {
+      std::lock_guard lock(mut_);
+      pose = current_pose_;
+      vel = current_vel_;
+    }
+    return onStart(command, pose, vel);
+  }
+
+  nav2_behaviors::ResultStatus onCycleUpdate() override
+  {
+    geometry_msgs::msg::Pose pose;
+    geometry_msgs::msg::Twist vel;
+    geometry_msgs::msg::Twist out_vel;
+    auto vel_p = std::make_unique<geometry_msgs::msg::TwistStamped>();
+    {
+      std::lock_guard lock(mut_);
+      pose = current_pose_;
+      vel = current_vel_;
+    }
+    nav2_behaviors::ResultStatus r = updateVel(pose, vel, out_vel);
+    vel_p->twist = out_vel;
+    vel_p->header.stamp = this->clock_->now();
+    vel_p->header.frame_id = this->robot_base_frame_;
+    this->vel_pub_->publish(std::move(vel_p));
+    return r;
+  }
+
+protected:
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
+  geometry_msgs::msg::Pose current_pose_;
+  geometry_msgs::msg::Twist current_vel_;
+  std::recursive_mutex mut_;
+  double control_duration_;
+};
+
+}  // namespace toid

toid_behaviors/include/toid_behaviors/simple_rotate.hpp

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "toid_behaviors/simple_move.hpp"
+#include "toid_msgs/action/simple_rotate.h"
+
+namespace toid
+{
+using RotateAction = toid_msgs::action::SimpleRotate;
+using namespace nav2_behaviors;
+
+class SimpleRotateBehavior : public SimpleMove<RotateAction>
+{
+public:
+  SimpleRotateBehavior();
+
+  void configureCB() override;
+
+  ResultStatus onStart(
+    const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
+    const geometry_msgs::msg::Twist & vel) override;
+
+  ResultStatus updateVel(
+    const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist & vel,
+    geometry_msgs::msg::Twist & out_vel) override;
+
+protected:
+
+  //Goal
+  double target_angle_;
+  double min_turn_angle_;
+  double initial_direction_;
+
+  //State
+  double angular_speed_;
+  double last_angle_;
+
+  //Config
+  double max_angular_speed_;
+  double min_angular_speed_;
+  double max_angular_accel_;
+};
+
+}  // namespace toid

toid_behaviors/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_behaviors</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>angles</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_util</depend>
+  <depend>nav2_core</depend>
+  <depend>nav2_controller</depend>
+  <depend>pluginlib</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>toid_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

toid_behaviors/src/simple_move.cpp

@@ -0,0 +1 @@
+#include "toid_behaviors/simple_move.hpp"

toid_behaviors/src/simple_rotate.cpp

@@ -0,0 +1,87 @@
+#include "toid_behaviors/simple_rotate.hpp"
+
+#include <cmath>
+
+#include "angles/angles.h"
+#include "tf2/convert.hpp"
+
+namespace toid
+{
+
+SimpleRotateBehavior::SimpleRotateBehavior() {}
+
+void SimpleRotateBehavior::configureCB()
+{
+  auto node = node_.lock();
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_angular_vel", rclcpp::ParameterValue(2.0));
+
+  node->get_parameter(behavior_name_ + ".max_angular_vel", max_angular_speed_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".min_angular_vel", rclcpp::ParameterValue(0.2));
+  node->get_parameter(behavior_name_ + ".min_angular_vel", min_angular_speed_);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, behavior_name_ + ".max_angular_accel", rclcpp::ParameterValue(4.0));
+  node->get_parameter(behavior_name_ + ".max_angular_accel", max_angular_accel_);
+}
+
+ResultStatus SimpleRotateBehavior::onStart(
+  const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
+  const geometry_msgs::msg::Twist & vel)
+{
+  target_angle_ = command->angle;
+  min_turn_angle_ = abs(command->min_angle);
+  initial_direction_ = (command->min_angle >= 0.0) ? 1.0 : -1.0;
+
+  last_angle_ = tf2::getYaw(pose.orientation);
+
+  angular_speed_ = vel.angular.z;
+
+  return ResultStatus{Status::SUCCEEDED};
+}
+
+ResultStatus SimpleRotateBehavior::updateVel(
+  const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Twist &,
+  geometry_msgs::msg::Twist & out_vel)
+{
+  const double current_yaw = tf2::getYaw(pose.orientation);
+  const double angle_change = angles::normalize_angle(current_yaw - last_angle_);
+  last_angle_ = current_yaw;
+
+  if (min_turn_angle_ > 0.0) {
+    min_turn_angle_ = fmax(0.0, min_turn_angle_ - initial_direction_ * angle_change);
+  }
+
+  const double upper_vel_ = angular_speed_ + max_angular_accel_ * control_duration_;
+  const double lower_vel_ = angular_speed_ - max_angular_accel_ * control_duration_;
+
+  double anglular_distance_to_target =
+    angles::shortest_angular_distance(current_yaw, target_angle_);
+  double sign = (anglular_distance_to_target >= 0.0) ? 1.0 : -1.0;
+
+  if (min_turn_angle_ > 0.0 && initial_direction_ != sign) {
+    anglular_distance_to_target = angles::two_pi_complement(anglular_distance_to_target);
+    sign = initial_direction_;
+  }
+
+  const double angular_distance_to_heading =
+    sign * fmax(std::fabs(anglular_distance_to_target), min_turn_angle_);
+
+  const double speed_until_overshoot =
+    0.9 * std::sqrt(2.0 * max_angular_accel_ * std::fabs(angular_distance_to_heading));
+
+  const double requested_speed = sign * std::min(speed_until_overshoot, max_angular_speed_);
+  const double speed = std::clamp(requested_speed, lower_vel_, upper_vel_);
+
+  if (min_turn_angle_ == 0 && std::fabs(current_yaw - target_angle_) < 0.01) {
+    return ResultStatus{Status::SUCCEEDED};
+  }
+
+  out_vel.angular.z = speed;
+
+  return ResultStatus{Status::RUNNING};
+}
+
+}  // namespace toid

toid_behaviors/toid_behaviors.xml

@@ -0,0 +1,7 @@
+<class_libraries>
+    <library path="toid_behaviors">
+        <class type="toid::SimpleRotateBehavior" base_class_type="nav2_core::Behavior">
+            <description></description>
+        </class>
+    </library>
+</class_libraries>

toid_msgs/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SendDouble.srv"
+  "action/SimpleRotate.action"
 )
 
 ament_package()

toid_msgs/action/SimpleRotate.action

@@ -0,0 +1,13 @@
+uint8 IGNORE_OBSTACLES=1
+
+float64 angle
+float64 min_angle 0
+uint8 mode 0
+---
+uint16 NONE=0
+uint16 TF_ERROR=1
+
+builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
+string error_msg
+---