From f484b0970327906d54b0e049326d645c8810e126 Mon Sep 17 00:00:00 2001
From: Alexander Mock <amock@uos.de>
Date: Mon, 18 Mar 2024 13:41:28 +0100
Subject: [PATCH] AMCL: Set an initial guess by service call (#4182)

* Added initial guess service. Signed-off-by: Alexander Mock

Signed-off-by: Alexander Mock <amock@uos.de>

* - Removed added empty line
- Renamed initialGuessCallback to initialPoseReceivedSrv
- Added new line to SetInitialPose service definition
- Removed mutex from initialPoseReceived
- Cleanup service server

Signed-off-by: Alexander Mock <amock@uos.de>

* added whitespace

Signed-off-by: Alexander Mock <amock@uos.de>

* renamed initial pose service in callback bind

Signed-off-by: Alexander Mock <amock@uos.de>

---------

Signed-off-by: Alexander Mock <amock@uos.de>
---
 nav2_amcl/include/nav2_amcl/amcl_node.hpp | 11 +++++++++++
 nav2_amcl/src/amcl_node.cpp               | 14 ++++++++++++++
 nav2_msgs/CMakeLists.txt                  |  1 +
 nav2_msgs/srv/SetInitialPose.srv          |  3 +++
 4 files changed, 29 insertions(+)
 create mode 100644 nav2_msgs/srv/SetInitialPose.srv

diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
index 2360d09c25..030a85f38c 100644
--- a/nav2_amcl/include/nav2_amcl/amcl_node.hpp
+++ b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -35,6 +35,7 @@
 #include "nav2_amcl/sensors/laser/laser.hpp"
 #include "nav2_msgs/msg/particle.hpp"
 #include "nav2_msgs/msg/particle_cloud.hpp"
+#include "nav2_msgs/srv/set_initial_pose.hpp"
 #include "nav_msgs/srv/set_map.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "std_srvs/srv/empty.hpp"
@@ -210,6 +211,16 @@ class AmclNode : public nav2_util::LifecycleNode
     const std::shared_ptr<std_srvs::srv::Empty::Request> request,
     std::shared_ptr<std_srvs::srv::Empty::Response> response);
 
+  // service server for providing an initial pose guess
+  rclcpp::Service<nav2_msgs::srv::SetInitialPose>::SharedPtr initial_guess_srv_;
+  /*
+   * @brief Service callback for an initial pose guess request
+   */
+  void initialPoseReceivedSrv(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> request,
+    std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response> response);
+
   // Let amcl update samples without requiring motion
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr nomotion_update_srv_;
   /*
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 6f2415cf50..b311b7ac5e 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -325,6 +325,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   // Get rid of the inputs first (services and message filter input), so we
   // don't continue to process incoming messages
   global_loc_srv_.reset();
+  initial_guess_srv_.reset();
   nomotion_update_srv_.reset();
   executor_thread_.reset();  //  to make sure initial_pose_sub_ completely exit
   initial_pose_sub_.reset();
@@ -495,6 +496,15 @@ AmclNode::globalLocalizationCallback(
   pf_init_ = false;
 }
 
+void
+AmclNode::initialPoseReceivedSrv(
+  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
+  const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> req,
+  std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response>/*res*/)
+{
+  initialPoseReceived(std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>(req->pose));
+}
+
 // force nomotion updates (amcl updating without requiring motion)
 void
 AmclNode::nomotionUpdateCallback(
@@ -1544,6 +1554,10 @@ AmclNode::initServices()
     "reinitialize_global_localization",
     std::bind(&AmclNode::globalLocalizationCallback, this, _1, _2, _3));
 
+  initial_guess_srv_ = create_service<nav2_msgs::srv::SetInitialPose>(
+    "set_initial_pose",
+    std::bind(&AmclNode::initialPoseReceivedSrv, this, _1, _2, _3));
+
   nomotion_update_srv_ = create_service<std_srvs::srv::Empty>(
     "request_nomotion_update",
     std::bind(&AmclNode::nomotionUpdateCallback, this, _1, _2, _3));
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
index 206ae86322..12637abca6 100644
--- a/nav2_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -38,6 +38,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ManageLifecycleNodes.srv"
   "srv/LoadMap.srv"
   "srv/SaveMap.srv"
+  "srv/SetInitialPose.srv"
   "action/AssistedTeleop.action"
   "action/BackUp.action"
   "action/ComputePathToPose.action"
diff --git a/nav2_msgs/srv/SetInitialPose.srv b/nav2_msgs/srv/SetInitialPose.srv
new file mode 100644
index 0000000000..ec1e50b65f
--- /dev/null
+++ b/nav2_msgs/srv/SetInitialPose.srv
@@ -0,0 +1,3 @@
+geometry_msgs/PoseWithCovarianceStamped pose
+---
+