SystemNode.hpp

Go to the documentation of this file.

// Copyright 2025 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_SYSTEM__SYSTEMNODE_HPP_
#define EASYNAV_SYSTEM__SYSTEMNODE_HPP_
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "std_msgs/msg/string.hpp"
 
#include "easynav_common/types/NavState.hpp"
#include "easynav_controller/ControllerNode.hpp"
#include "easynav_localizer/LocalizerNode.hpp"
#include "easynav_maps_manager/MapsManagerNode.hpp"
#include "easynav_planner/PlannerNode.hpp"
#include "easynav_sensors/SensorsNode.hpp"
#include "easynav_system/GoalManager.hpp"
 
namespace easynav
{

struct SystemNodeInfo
{
  rclcpp_lifecycle::LifecycleNode::SharedPtr node_ptr; 
  rclcpp::CallbackGroup::SharedPtr realtime_cbg;       
};

class SystemNode : public rclcpp_lifecycle::LifecycleNode
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(SystemNode)
  using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

  explicit SystemNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~SystemNode();

  CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_error(const rclcpp_lifecycle::State & state);

  rclcpp::CallbackGroup::SharedPtr get_real_time_cbg();

  std::map<std::string, SystemNodeInfo> get_system_nodes();

  void system_cycle_rt();

  void system_cycle();
 
private:
  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

  ControllerNode::SharedPtr controller_node_;

  LocalizerNode::SharedPtr localizer_node_;

  MapsManagerNode::SharedPtr maps_manager_node_;

  PlannerNode::SharedPtr planner_node_;

  SensorsNode::SharedPtr sensors_node_;

  std::shared_ptr<NavState> nav_state_;

  GoalManager::SharedPtr goal_manager_;

  bool use_cmd_vel_stamped_ {false};

  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr navstate_pub_;

  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr vel_pub_stamped_;

  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SYSTEM__SYSTEMNODE_HPP_