Added parameter rotate_to_heading_once

Signed-off-by: Daniil Khaninaev <[email protected]>

Author: ikhann

nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp

@@ -148,6 +148,13 @@ class RotationShimController : public nav2_core::Controller
     const double & angular_distance_to_heading,
     const geometry_msgs::msg::PoseStamped & pose);
 
+  /**
+   * @brief Checks if the goal has changed based on the given path.
+   * @param path The path to compare with the current goal.
+   * @return True if the goal has changed, false otherwise.
+   */
+  bool isGoalChanged(const nav_msgs::msg::Path & path);
+
   /**
    * @brief Callback executed when a parameter change is detected
    * @param event ParameterEvent message
@@ -171,7 +178,7 @@ class RotationShimController : public nav2_core::Controller
   double forward_sampling_distance_, angular_dist_threshold_, angular_disengage_threshold_;
   double rotate_to_heading_angular_vel_, max_angular_accel_;
   double control_duration_, simulate_ahead_time_;
-  bool rotate_to_goal_heading_, in_rotation_;
+  bool rotate_to_goal_heading_, in_rotation_, rotate_to_heading_once_;
 
   // Dynamic parameters handler
   std::mutex mutex_;

nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp

@@ -71,6 +71,8 @@ void RotationShimController::configure(
     node, plugin_name_ + ".primary_controller", rclcpp::PARAMETER_STRING);
   nav2_util::declare_parameter_if_not_declared(
     node, plugin_name_ + ".rotate_to_goal_heading", rclcpp::ParameterValue(false));
+  nav2_util::declare_parameter_if_not_declared(
+    node, plugin_name_ + ".rotate_to_heading_once", rclcpp::ParameterValue(false));
 
   node->get_parameter(plugin_name_ + ".angular_dist_threshold", angular_dist_threshold_);
   node->get_parameter(plugin_name_ + ".angular_disengage_threshold", angular_disengage_threshold_);
@@ -86,6 +88,7 @@ void RotationShimController::configure(
   control_duration_ = 1.0 / control_frequency;
 
   node->get_parameter(plugin_name_ + ".rotate_to_goal_heading", rotate_to_goal_heading_);
+  node->get_parameter(plugin_name_ + ".rotate_to_heading_once", rotate_to_heading_once_);
 
   try {
     primary_controller_ = lp_loader_.createUniqueInstance(primary_controller);
@@ -340,9 +343,21 @@ void RotationShimController::isCollisionFree(
   }
 }
 
+bool RotationShimController::isGoalChanged(const nav_msgs::msg::Path & path)
+{
+  // Return true if rotating or if the current path is empty
+  if (in_rotation_ || current_path_.poses.empty())
+  {
+    return true;
+  }
+
+  // Check if the last pose of the current and new paths differ
+  return current_path_.poses.back().pose != path.poses.back().pose;
+}
+
 void RotationShimController::setPlan(const nav_msgs::msg::Path & path)
 {
-  path_updated_ = true;
+  path_updated_ = rotate_to_heading_once_ ? isGoalChanged(path) : true;
   current_path_ = path;
   primary_controller_->setPlan(path);
 }
@@ -377,6 +392,8 @@ RotationShimController::dynamicParametersCallback(std::vector<rclcpp::Parameter>
     } else if (type == ParameterType::PARAMETER_BOOL) {
       if (name == plugin_name_ + ".rotate_to_goal_heading") {
         rotate_to_goal_heading_ = parameter.as_bool();
+      } else if (name == plugin_name_ + ".rotate_to_heading_once") {
+        rotate_to_heading_once_ = parameter.as_bool();
       }
     }
   }