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use std::{sync::Arc, time};
use arci::*;
use nalgebra as na;
use schemars::JsonSchema;
use serde::{Deserialize, Serialize};
use crate::{define_action_client, msg, ActionResultWait};
define_action_client!(SimpleActionClient, msg::move_base_msgs, MoveBase);
rosrust::rosmsg_include! {
std_srvs / Empty
}
impl From<na::Isometry2<f64>> for msg::geometry_msgs::Pose {
fn from(goal: na::Isometry2<f64>) -> Self {
let iso_pose = na::Isometry3::from_parts(
na::Translation3::new(goal.translation.x, goal.translation.y, 0.0),
na::UnitQuaternion::from_euler_angles(0.0, 0.0, goal.rotation.angle()),
);
iso_pose.into()
}
}
const NO_MOTION_UPDATE_SERVICE: &str = "request_nomotion_update";
const MOVE_BASE_ACTION: &str = "/move_base";
const CLEAR_COSTMAP_SERVICE: &str = "/move_base/clear_costmaps";
#[derive(Clone, Debug)]
pub struct RosNavClientBuilder {
move_base_action_base_name: String,
clear_costmap_service_name: String,
nomotion_update_service_name: String,
request_final_nomotion_update_hack: bool,
clear_costmap_before_start: bool,
}
impl RosNavClientBuilder {
pub fn new() -> Self {
Self {
move_base_action_base_name: MOVE_BASE_ACTION.to_string(),
clear_costmap_service_name: CLEAR_COSTMAP_SERVICE.to_string(),
nomotion_update_service_name: NO_MOTION_UPDATE_SERVICE.to_string(),
request_final_nomotion_update_hack: false,
clear_costmap_before_start: false,
}
}
pub fn request_final_nomotion_update_hack(mut self, val: bool) -> Self {
self.request_final_nomotion_update_hack = val;
self
}
pub fn clear_costmap_before_start(mut self, val: bool) -> Self {
self.clear_costmap_before_start = val;
self
}
pub fn finalize(self) -> RosNavClient {
let mut c = RosNavClient::new(
self.request_final_nomotion_update_hack,
self.move_base_action_base_name,
self.nomotion_update_service_name,
self.clear_costmap_service_name,
);
c.clear_costmap_before_start = self.clear_costmap_before_start;
c
}
}
impl Default for RosNavClientBuilder {
fn default() -> Self {
Self::new()
}
}
#[derive(Clone)]
pub struct RosNavClient {
pub clear_costmap_before_start: bool,
action_client: Arc<SimpleActionClient>,
nomotion_update_client: Option<rosrust::Client<std_srvs::Empty>>,
nomotion_update_service_name: String,
clear_costmap_service_name: String,
}
impl RosNavClient {
pub fn new(
request_final_nomotion_update_hack: bool,
move_base_action_base_name: String,
nomotion_update_service_name: String,
clear_costmap_service_name: String,
) -> Self {
let action_client = SimpleActionClient::new(&move_base_action_base_name, 1);
let nomotion_update_client = if request_final_nomotion_update_hack {
rosrust::wait_for_service(
&nomotion_update_service_name,
Some(std::time::Duration::from_secs(10)),
)
.unwrap();
Some(rosrust::client::<std_srvs::Empty>(&nomotion_update_service_name).unwrap())
} else {
None
};
Self {
clear_costmap_before_start: false,
action_client: Arc::new(action_client),
nomotion_update_client,
nomotion_update_service_name,
clear_costmap_service_name,
}
}
pub fn new_from_config(config: RosNavClientConfig) -> Self {
let mut s = Self::new(
config.request_final_nomotion_update_hack,
config.move_base_action_base_name,
config.nomotion_update_service_name,
config.clear_costmap_service_name,
);
s.clear_costmap_before_start = config.clear_costmap_before_start;
s
}
pub fn clear_costmap(&self) -> Result<(), Error> {
rosrust::wait_for_service(
&self.clear_costmap_service_name,
Some(time::Duration::from_secs(10)),
)
.unwrap();
let client =
rosrust::client::<msg::std_srvs::Empty>(&self.clear_costmap_service_name).unwrap();
client.req(&msg::std_srvs::EmptyReq {}).unwrap().unwrap();
rosrust::ros_info!("requested to clear costmaps");
Ok(())
}
fn wait_until_reach(
&self,
mut action_result_wait: ActionResultWait,
timeout: std::time::Duration,
) -> Result<(), crate::Error> {
match action_result_wait.wait(timeout) {
Ok(_) => {
rosrust::ros_info!("Action succeeds");
if let Some(client) = self.nomotion_update_client.as_ref() {
client.req(&std_srvs::EmptyReq {}).unwrap().unwrap();
rosrust::ros_info!("Called {}", self.nomotion_update_service_name);
}
Ok(())
}
Err(e) => match e {
crate::Error::ActionResultPreempted(_) => {
rosrust::ros_warn!("Action is cancelled");
Err(e)
}
_ => {
rosrust::ros_err!("Action does not succeed {e:?}");
Err(e)
}
},
}
}
}
impl Navigation for RosNavClient {
fn send_goal_pose(
&self,
goal: na::Isometry2<f64>,
frame_id: &str,
timeout: std::time::Duration,
) -> Result<WaitFuture, Error> {
if self.clear_costmap_before_start {
self.clear_costmap()?;
}
let mut target_pose = msg::geometry_msgs::PoseStamped {
pose: goal.into(),
..Default::default()
};
target_pose.header.frame_id = frame_id.to_owned();
target_pose.header.stamp = rosrust::now();
let action_result_wait = self
.action_client
.send_goal(msg::move_base_msgs::MoveBaseGoal { target_pose })
.map_err(|e| anyhow::anyhow!("Failed to send_goal_and_wait : {e}"))?;
let self_clone = self.clone();
let wait = WaitFuture::new(async move {
tokio::task::spawn_blocking(move || {
self_clone.wait_until_reach(action_result_wait, timeout)
})
.await
.map_err(|e| arci::Error::Other(e.into()))??;
Ok(())
});
Ok(wait)
}
fn cancel(&self) -> Result<(), Error> {
self.action_client
.cancel_all_goal()
.map_err(|e| anyhow::anyhow!("Failed to cancel_all_goal : {e}"))?;
Ok(())
}
}
#[derive(Debug, Serialize, Deserialize, Clone, JsonSchema)]
#[serde(deny_unknown_fields)]
pub struct RosNavClientConfig {
pub request_final_nomotion_update_hack: bool,
pub clear_costmap_before_start: bool,
#[serde(default = "default_move_base_action_base_name")]
pub move_base_action_base_name: String,
#[serde(default = "default_nomotion_update_service_name")]
pub nomotion_update_service_name: String,
#[serde(default = "default_clear_costmap_service_name")]
pub clear_costmap_service_name: String,
}
fn default_move_base_action_base_name() -> String {
MOVE_BASE_ACTION.to_string()
}
fn default_nomotion_update_service_name() -> String {
NO_MOTION_UPDATE_SERVICE.to_string()
}
fn default_clear_costmap_service_name() -> String {
CLEAR_COSTMAP_SERVICE.to_string()
}