Add getRobotPose service type.

nav2_msgs/CMakeLists.txt

@@ -17,6 +17,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Path.msg"
   "msg/VoxelGrid.msg"
   "srv/GetCostmap.srv"
+  "srv/GetRobotPose.srv"
   "srv/ClearCostmapExceptRegion.srv"
   "srv/ClearCostmapAroundRobot.srv"
   "srv/ClearEntireCostmap.srv"

nav2_msgs/srv/GetRobotPose.srv

+# Get the latest robot pose in the frame of the costmap
+
+std_msgs/Empty request
+---
+geometry_msgs/PoseStamped pose
+bool is_pose_valid

nav2_util/include/nav2_util/costmap_service_client.hpp

@@ -23,23 +23,23 @@
 namespace nav2_util
 {
 
-class CostmapServiceClient : public nav2_util::ServiceClient<nav2_msgs::srv::GetCostmap>
+class CostmapServiceClient : public ServiceClient<nav2_msgs::srv::GetCostmap>
 {
 public:
   explicit CostmapServiceClient(const std::string & parent_node_name)
-  : nav2_util::ServiceClient<nav2_msgs::srv::GetCostmap>("GetCostmap", parent_node_name)
+  : ServiceClient<nav2_msgs::srv::GetCostmap>("GetCostmap", parent_node_name)
   {
   }
 
-  explicit CostmapServiceClient(rclcpp::Node::SharedPtr node)
+  explicit CostmapServiceClient(rclcpp::Node::SharedPtr & node)
   : ServiceClient<nav2_msgs::srv::GetCostmap>("GetCostmap", node)
   {
   }
 
   using CostmapServiceRequest =
-    nav2_util::ServiceClient<nav2_msgs::srv::GetCostmap>::RequestType;
+    ServiceClient<nav2_msgs::srv::GetCostmap>::RequestType;
   using CostmapServiceResponse =
-    nav2_util::ServiceClient<nav2_msgs::srv::GetCostmap>::ResponseType;
+    ServiceClient<nav2_msgs::srv::GetCostmap>::ResponseType;
 };
 
 }  // namespace nav2_util

nav2_util/include/nav2_util/get_robot_pose_client.hpp

+// Copyright (c) 2019 Intel Corporation
+//
+// 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 NAV2_UTIL__GET_ROBOT_POSE_CLIENT_HPP_
+#define NAV2_UTIL__GET_ROBOT_POSE_CLIENT_HPP_
+
+#include "nav2_util/service_client.hpp"
+#include "nav2_msgs/srv/get_robot_pose.hpp"
+
+namespace nav2_util
+{
+
+class GetRobotPoseClient : public ServiceClient<nav2_msgs::srv::GetRobotPose>
+{
+public:
+  explicit GetRobotPoseClient(const std::string & parent_node_name)
+  : ServiceClient<nav2_msgs::srv::GetRobotPose>("GetRobotPose", parent_node_name)
+  {
+  }
+
+  explicit GetRobotPoseClient(rclcpp::Node::SharedPtr & node)
+  : ServiceClient<nav2_msgs::srv::GetRobotPose>("GetRobotPose", node)
+  {
+  }
+
+  using GetRobotPoseRequest =
+    ServiceClient<nav2_msgs::srv::GetRobotPose>::RequestType;
+  using GetRobotPoseResponse =
+    ServiceClient<nav2_msgs::srv::GetRobotPose>::ResponseType;
+};
+
+}  // namespace nav2_tasks
+
+#endif  // NAV2_UTIL__GET_ROBOT_POSE_CLIENT_HPP_