first stab at nav2_core

nav2_core/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project(nav2_core)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

nav2_core/include/nav2_core/global_planner.hpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Samsung Research America
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef NAV2_CORE_GLOBAL_PLANNER_H_
+#define NAV2_CORE_GLOBAL_PLANNER_H_
+
+#include <string>
+#include "nav2_msgs/msg/path.h"
+#include "geometry_msgs/msg/pose_stamped.h"
+
+namespace nav2_core
+{
+
+/**
+ * @class GlobalPlanner
+ * @brief Abstract interface for global planners to adhere to with pluginlib
+ */
+class GlobalPlanner
+{
+public:
+  /**
+   * @brief Virtual destructor
+   */
+  virtual ~GlobalPlanner() {}
+
+  /**
+   * @param  parent pointer to user's node
+   * @param  name The name of this planner
+   * @param  tf A pointer to a TF buffer
+   * @param  costmap_ros A pointer to the costmap
+   */
+  virtual void configure(const rclcpp::Node* parent,
+  	const std::string& name, tf2::Buffer * tf,
+  	nav2_costmap_2d::Costmap2DROS * costmap_ros) = 0;
+
+  /**
+   * @brief Method to cleanup resources used on shutdown.
+   */
+  virtual void cleanup() = 0;
+
+  /**
+   * @brief Method to active planner and any threads involved in execution.
+   */
+  virtual void activate() = 0;
+
+  /**
+   * @brief Method to deactive planner and any threads involved in execution.
+   */
+  virtual void deactivate() = 0;
+
+  /**
+   * @brief Method create the plan from a starting and ending goal.
+   * @param start The starting pose of the robot
+   * @param goal  The goal pose of the robot
+   * @return      The sequence of poses to get from start to goal, if any
+   */
+  virtual nav2_msgs::Path createPlan(
+    const geometry_msgs::msg::PoseStamped & start,
+    const geometry_msgs::msg::PoseStamped & goal) = 0;
+};
+
+}  // namespace nav2_core
+
+#endif  // NAV2_CORE_GLOBAL_PLANNER_H_

nav2_core/include/nav2_core/recovery.hpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2019, Samsung Research America
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef NAV2_CORE_GLOBAL_PLANNER_H_
+#define NAV2_CORE_GLOBAL_PLANNER_H_
+
+#include <string>
+#include "nav2_msgs/msg/path.h"
+#include "geometry_msgs/msg/pose_stamped.h"
+
+namespace nav2_core
+{
+
+/**
+ * @class GlobalPlanner
+ * @brief Abstract interface for recoveries to adhere to with pluginlib
+ */
+class Recovery
+{
+public:
+  /**
+   * @brief Virtual destructor
+   */
+  virtual ~Recovery() {}
+
+  /**
+   * @param  parent pointer to user's node
+   * @param  name The name of this planner
+   * @param  tf A pointer to a TF buffer
+   * @param  costmap_ros A pointer to the costmap
+   */
+  virtual void configure(const rclcpp::Node* parent,
+    const std::string& name, tf2::Buffer * tf,
+    nav2_costmap_2d::Costmap2DROS * costmap_ros) = 0;
+
+  /**
+   * @brief Method to cleanup resources used on shutdown.
+   */
+  virtual void cleanup() = 0;
+
+  /**
+   * @brief Method to active recovery and any threads involved in execution.
+   */
+  virtual void activate() = 0;
+
+  /**
+   * @brief Method to deactive recovery and any threads involved in execution.
+   */
+  virtual void deactivate() = 0;
+
+  /**
+   * @brief Method Execute recovery behavior
+   * @param  name The name of this planner
+   * @return true if successful, false is failed to execute fully
+   */
+  virtual bool executeRecovery(
+    const nav2_msgs::RecoveryRequest & req) = 0;
+};
+
+}  // namespace nav2_core
+
+#endif  // NAV2_CORE_GLOBAL_PLANNER_H_

nav2_core/package.xml

+<?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>nav2_core</name>
+  <version>0.2.2</version>
+  <description>A set of headers for plugins core to the navigation2 stack</description>
+  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>nav2_costmap_2d</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_ros</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

nav2_msgs/CMakeLists.txt

@@ -15,6 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Costmap.msg"
   "msg/CostmapMetaData.msg"
   "msg/Path.msg"
+  "msg/RecoveryRequest.msg"
   "msg/VoxelGrid.msg"
   "srv/GetCostmap.srv"
   "srv/ClearCostmapExceptRegion.srv"

nav2_msgs/msg/RecoveryRequest.msg

+geometry_msgs/PoseStamped starting
+geometry_msgs/PoseStamped goal
+std_msgs/String[] arguments