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Expose distance controller frames to ports #1741

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Merged
merged 1 commit into from
May 15, 2020
Merged

Expose distance controller frames to ports #1741

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10 changes: 7 additions & 3 deletions nav2_behavior_tree/plugins/decorator/distance_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,13 @@ DistanceController::DistanceController(
const BT::NodeConfiguration & conf)
: BT::DecoratorNode(name, conf),
distance_(1.0),
global_frame_("map"),
robot_base_frame_("base_link"),
first_time_(false)
{
getInput("distance", distance_);
getInput("global_frame", global_frame_);
getInput("robot_base_frame", robot_base_frame_);
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
}
Expand All @@ -47,7 +51,7 @@ inline BT::NodeStatus DistanceController::tick()
if (status() == BT::NodeStatus::IDLE) {
// Reset the starting position since we're starting a new iteration of
// the distance controller (moving from IDLE to RUNNING)
if (!nav2_util::getCurrentPose(start_pose_, *tf_)) {
if (!nav2_util::getCurrentPose(start_pose_, *tf_, global_frame_, robot_base_frame_)) {
RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
return BT::NodeStatus::FAILURE;
}
Expand All @@ -58,7 +62,7 @@ inline BT::NodeStatus DistanceController::tick()

// Determine distance travelled since we've started this iteration
geometry_msgs::msg::PoseStamped current_pose;
if (!nav2_util::getCurrentPose(current_pose, *tf_)) {
if (!nav2_util::getCurrentPose(current_pose, *tf_, global_frame_, robot_base_frame_)) {
RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
return BT::NodeStatus::FAILURE;
}
Expand All @@ -81,7 +85,7 @@ inline BT::NodeStatus DistanceController::tick()
return BT::NodeStatus::RUNNING;

case BT::NodeStatus::SUCCESS:
if (!nav2_util::getCurrentPose(start_pose_, *tf_)) {
if (!nav2_util::getCurrentPose(start_pose_, *tf_, global_frame_, robot_base_frame_)) {
RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
return BT::NodeStatus::FAILURE;
}
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8 changes: 7 additions & 1 deletion nav2_behavior_tree/plugins/decorator/distance_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,9 @@ class DistanceController : public BT::DecoratorNode
static BT::PortsList providedPorts()
{
return {
BT::InputPort<double>("distance", 1.0, "Distance")
BT::InputPort<double>("distance", 1.0, "Distance"),
BT::InputPort<std::string>("global_frame", std::string("map"), "Global frame"),
BT::InputPort<std::string>("robot_base_frame", std::string("base_link"), "Robot base frame")
};
}

Expand All @@ -51,6 +53,10 @@ class DistanceController : public BT::DecoratorNode

geometry_msgs::msg::PoseStamped start_pose_;
double distance_;

std::string global_frame_;
std::string robot_base_frame_;

bool first_time_;
};

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