diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..6b4e6d2 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,75 @@ +FROM tiryoh/ros-desktop-vnc:noetic + +ENV DEBCONF_NOWARNINGS=yes +ENV DEBIAN_FRONTEND noninteractive +ENV ROS_PYTHON_VERSION 3 +ENV ROS_DISTRO=noetic +SHELL ["/bin/bash", "-c"] + + +EXPOSE 22 +EXPOSE 10940 +EXPOSE 2368/udp +EXPOSE 8308/udp + + +RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list + + +RUN apt-get update && \ + apt-get upgrade -y && \ + apt-get install --no-install-recommends -y \ + build-essential \ + dkms \ + openssh-server && \ + apt-get -y clean && \ + rm -rf /var/lib/apt/lists/* && \ + mkdir /var/run/sshd && \ + echo 'root:ubuntu' | chpasswd && \ + sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \ + sed -i 's/#PasswordAuthentication/PasswordAuthentication/' /etc/ssh/sshd_config && \ + sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd + + +# 2022 required +RUN apt-get update && \ + apt-get upgrade -y && \ + apt-get install --no-install-recommends -y \ + gedit \ + ros-noetic-rosserial \ + ros-noetic-rosserial-arduino \ + ros-noetic-urg-node \ + ros-noetic-joy \ + ros-noetic-teleop-twist-joy \ + ros-noetic-robot-pose-ekf \ + ros-noetic-tf2-sensor-msgs \ + ros-noetic-move-base-msgs \ + libsdl1.2-dev \ + libsdl-image1.2-dev \ + libpcap-dev + + + +RUN mkdir -p /home/ubuntu/catkin_ws/src && \ + /bin/bash -c "source /opt/ros/noetic/setup.bash ; cd /home/ubuntu/catkin_ws/src ; catkin_init_workspace" && \ + /bin/bash -c "source /opt/ros/noetic/setup.bash ; cd /home/ubuntu/catkin_ws ; catkin build" && \ + echo "source /home/ubuntu/catkin_ws/devel/setup.bash" >> ~/.bashrc && \ + echo "export ROS_WORKSPACE=/home/ubuntu/catkin_ws" >> ~/.bashrc && \ + echo "alias cm='cd ~/catkin_ws;catkin build'" >> ~/.bashrc && \ + echo "alias cs='cd ~/catkin_ws/src'" >> ~/.bashrc && \ + echo "alias cw='cd ~/catkin_ws'" >> ~/.bashrc + + +COPY src /home/ubuntu/catkin_ws/src + +RUN apt-get update && \ + apt-get upgrade -y && \ + cd /home/ubuntu/catkin_ws && \ + catkin clean -y && \ + source /opt/ros/noetic/setup.bash && \ + catkin build && \ + apt-get autoremove -y && \ + apt-get clean && \ + rm -rf /var/lib/apt/lists/* + +COPY ./startup.sh /startup.sh diff --git a/pull.sh b/pull.sh new file mode 100755 index 0000000..e77bf77 --- /dev/null +++ b/pull.sh @@ -0,0 +1,6 @@ +#!/bin/bash + +LATEST_VERSION=$(curl -s https://registry.hub.docker.com/v1/repositories/bvbnatsu/tsukuba2022/tags | jq -r '.[].name' | tail -n 1) +echo $LATEST_VERSION + +docker pull bvbnatsu/tsukuba2022:$LATEST_VERSION diff --git a/readme.txt b/readme.txt new file mode 100644 index 0000000..27591c6 --- /dev/null +++ b/readme.txt @@ -0,0 +1,15 @@ +Requirement + - docker + - curl + - jq + + $ sudo snap install docker + $ sudo apt install curl + $ sudo apt install jq + + +Pull latest image + $ ./pull.sh + +Push image as latest + $ ./push.sh diff --git a/runLite.sh b/runLite.sh new file mode 100755 index 0000000..59b9788 --- /dev/null +++ b/runLite.sh @@ -0,0 +1,9 @@ +docker run --rm \ + -p 6080:80 \ + -p 2222:22 \ + -p 10940:10940 \ + -p 2368:2368/udp \ + -p 8308:8308/udp \ + -e RESOLUTION=1920x1080 --shm-size=512m \ + -e HOME=/home/ubuntu -e SHELL=/bin/bash \ + --entrypoint '/startup.sh' tsukuba2022:latest diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 120000 index 0000000..2016816 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/catkin_simple/CMakeLists.txt b/src/catkin_simple/CMakeLists.txt new file mode 100644 index 0000000..2bb0702 --- /dev/null +++ b/src/catkin_simple/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(catkin_simple) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS catkin + CFG_EXTRAS catkin_simple-extras.cmake +) diff --git a/src/catkin_simple/README.md b/src/catkin_simple/README.md new file mode 100644 index 0000000..5b9f13a --- /dev/null +++ b/src/catkin_simple/README.md @@ -0,0 +1,123 @@ +# catkin simple + +This `catkin` package is designed to make the `CMakeLists.txt` of other `catkin` packages simpler. + +## CMakeLists.txt Example + +Here is an example of a package `foo` which depends on other catkin packages: + +```cmake +cmake_minimum_required(VERSION 2.8.3) +project(foo) + +find_package(catkin_simple REQUIRED) + +catkin_simple() + +cs_add_library(my_lib src/my_lib.cpp) + +cs_add_executable(my_exec src/main.cpp) +target_link_libraries(my_exec my_lib) + +cs_install() + +cs_install_scripts(scripts/my_script.py) + +cs_export() +``` + +Lets break this down, line by line. + +First is the standard CMake header: + +```cmake +cmake_minimum_required(VERSION 2.8.3) +project(foo) +``` + +Which defines the minimum CMake version and the name of this project. + +Next comes the `find_package` of `catkin_simple`: + +```cmake +find_package(catkin_simple REQUIRED) +``` + +This is just like `find_package` for any other `catkin` package. This command is required. + +### catkin_simple() + +Then you invoke `catkin_simple`: + +```cmake +catkin_simple() +``` + +This macro call gathers your `build_depend`'s from the `package.xml` of your package, then does a `find_package(...)` on each of them. + +By default, `find_package(...)` is called with the `QUIET` option and without the `REQUIRED` option. That way, if any of the build_depend's are not `catkin` packages then they are simply ignored. This means that if you depend on a `caktin` package which is not on your system, `catkin_simple` will not warn you about this, because there is no way to know if it is a missing `catkin` package or a system dependency. If this is not the desired behaviour, calling `catkin_simple(ALL_DEPS_REQUIRED)` will call `find_package(...)` on each dependency *with* the `REQUIRED` option. + +Packages which are successfully found and identified to be `catkin` packages are added to a list of "catkin build dependencies" for your package. This list of build dependencies is passed to `find_package(catkin REQUIRED COMPONENTS ...)`. This command is required. + +Next, this macro adds the local `include` folder and any `catkin` include directories to the include path with CMake's `include_directories(...)` macro, but the local `include` folder is only added if it exists. + +Finally, this macro will discover and build any ROS messages, services, and actions which reside in the `msg`, `srv`, action `action` folders, respectively. The automatic discovery and building of messages/services is only done if your package `build_depend`'s on `message_generation`, and message generation will complain if your package does not run_depend on `message_runtime`. + +This macro discovers and builds [dynamic_reconfigure](http://wiki.ros.org/dynamic_reconfigure) config files from the `cfg` folder. The automatic discovery only works if your package `build_depend`'s on `dynamic_reconfigure`, and dynamic reconfigure will complain if your package does not run_depend on `dynamic_reconfigure`. + +### cs_add_library() + +Next we create a library: + +```cmake +cs_add_library(my_lib src/my_lib.cpp) +``` + +This call does a few things, first it calls directly through to the normal CMake macro `add_library`, then it calls `target_link_libraries(my_lib ${catkin_LIBRARIES})` to link your new library against any catkin libraries you have build depended on in your package.xml. Finally it does some bookkeeping so that your library target can be implicitly used later. + +### cs_add_executable() + +Next we add a new executable: + +```cmake +cs_add_executable(my_exec src/main.cpp) +target_link_libraries(my_exec my_lib) +``` + +This works just like `cs_add_library`, but it calls CMake's `add_executable(...)` instead. + +Notice that here we have to explicitly call `target_link_libraries` for linking against our library, this is because there is no way to enforce order of target creation. The executable is still automatically linked against the catkin libraries. + +### cs_install() + +Next we install everything: + +```cmake +cs_install() + +cs_install_scripts(scripts/my_script.py) +``` + +The first macro call creates an installation rule for any libraries and executables you created with `cs_` prefixed commands. That call can also take zero to many additional targets you wish to install which were created without the `cs_` prefixed commands. This command is optional. + +The second macro call creates an installation rule for the given scripts, installing them to `${prefix}/lib/${pkg_name}/`. This command is optional. + +### cs_export() + +Finally, we export everything: + +```cmake +cs_export() +``` + +This command calls `catkin_package(...)` under the hood, extending that call with any libraries created and catkin_depends found automatically with `catkin_simple`. You can also pass in your own arguments to `catkin_package(...)` through this command. This command is required. + +## Known Limitations + +There are several known assumptions and incorrect behaviors in `catkin_simple` which are a result of the trade-off of correctness for convenience. + +* There is no warning when a catkin package is not found during `find_package`. +* There is over linking, as all libraries of all dependencies are linked against all targets indiscriminately. +* Assumes that the `include` folder is meant to be in the include path. +* If new .msg or .srv files are added, they will not be detected until you force CMake to run again +* All targets have a target dependency on any downstream message generation, which results in sub-optimal parallelization of targets, as there are unnecessary dependencies created. diff --git a/src/catkin_simple/cmake/catkin_simple-extras.cmake.em b/src/catkin_simple/cmake/catkin_simple-extras.cmake.em new file mode 100644 index 0000000..989f9f9 --- /dev/null +++ b/src/catkin_simple/cmake/catkin_simple-extras.cmake.em @@ -0,0 +1,226 @@ +# Generated from: catkin_simple/cmake/catkin_simple-extras.cmake.em + +if(_CATKIN_SIMPLE_EXTRAS_INCLUDED_) + return() +endif() +set(_CATKIN_SIMPLE_EXTRAS_INCLUDED_ TRUE) + +include(CMakeParseArguments) + +@[if DEVELSPACE]@ +# cmake dir in develspace +set(catkin_simple_CMAKE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/cmake") +@[else]@ +# cmake dir in installspace +set(catkin_simple_CMAKE_DIR "@(PKG_CMAKE_DIR)") +@[end if]@ + +macro(catkin_simple) + # Arguments + # ALL_DEPS_REQUIRED -- Add the "REQUIRED" flag when calling + # FIND_PACKAGE() for each dependency + cmake_parse_arguments(cs_args "ALL_DEPS_REQUIRED" "" "" ${ARGN}) + + if(TARGET ${PROJECT_NAME}_package) + message(WARNING "Could not create target '${${PROJECT_NAME}_package}' for project ${PROJECT_NAME}, as it already exists.") + endif() + add_custom_target(${PROJECT_NAME}_package) + set(${PROJECT_NAME}_TARGETS) + set(${PROJECT_NAME}_LIBRARIES) + + find_package(catkin REQUIRED) + # call catkin_package_xml() if it has not been called before + if(NOT _CATKIN_CURRENT_PACKAGE) + catkin_package_xml() + endif() + + set(${PROJECT_NAME}_CATKIN_BUILD_DEPENDS) + set(${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS) + foreach(dep ${${PROJECT_NAME}_BUILD_DEPENDS}) + # If this flag is defined, add the "REQUIRED" flag + # to all FIND_PACKAGE calls + if(cs_args_ALL_DEPS_REQUIRED) + find_package(${dep} REQUIRED) + else() + find_package(${dep} QUIET) + endif() + + if(${dep}_FOUND_CATKIN_PROJECT) + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS ${dep}) + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS ${${dep}_EXPORTED_TARGETS}) + endif() + endforeach() + + # Let find_package(catkin ...) do the heavy lifting + find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS}) + + # add include directory if available + set(${PROJECT_NAME}_LOCAL_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}) + set(${PROJECT_NAME}_LOCAL_INCLUDE_DIR) + endif() + include_directories(${${PROJECT_NAME}_LOCAL_INCLUDE_DIR} ${catkin_INCLUDE_DIRS}) + + # perform action/msg/srv generation if necessary + if(message_generation_FOUND_CATKIN_PROJECT) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION FALSE) + # add action files if available + set(${PROJECT_NAME}_LOCAL_ACTION_DIR ${CMAKE_CURRENT_SOURCE_DIR}/action) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_ACTION_DIR}) + set(${PROJECT_NAME}_LOCAL_ACTION_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_ACTION_DIR) + add_action_files(DIRECTORY action) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # add message files if available + set(${PROJECT_NAME}_LOCAL_MSG_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_MSG_DIR}) + set(${PROJECT_NAME}_LOCAL_MSG_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_MSG_DIR) + add_message_files(DIRECTORY msg) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # add service files if available + set(${PROJECT_NAME}_LOCAL_SRV_DIR ${CMAKE_CURRENT_SOURCE_DIR}/srv) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_SRV_DIR}) + set(${PROJECT_NAME}_LOCAL_SRV_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_SRV_DIR) + add_service_files(DIRECTORY srv) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # generate messages if necessary + if(${PROJECT_NAME}_DO_MESSAGE_GENERATION) + # identify all build dependencies which contain messages + set(${PROJECT_NAME}_MSG_PACKAGES) + foreach(dep ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS}) + set(${PROJECT_NAME}_MSG_PACKAGE_FILE ${${dep}_DIR}/${dep}-msg-paths.cmake) + if(EXISTS ${${PROJECT_NAME}_MSG_PACKAGE_FILE}) + list(APPEND ${PROJECT_NAME}_MSG_PACKAGES ${dep}) + endif() + endforeach() + generate_messages(DEPENDENCIES ${${PROJECT_NAME}_MSG_PACKAGES}) + # add additional exported targets coming from generate_messages() + list(INSERT ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS 0 ${${PROJECT_NAME}_EXPORTED_TARGETS}) + endif() + endif() + + # generate dynamic reconfigure files + if(dynamic_reconfigure_FOUND_CATKIN_PROJECT) + set(${PROJECT_NAME}_LOCAL_CFG_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cfg) + if(IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_CFG_DIR}) + # create a list containing all the cfg files + file(GLOB ${PROJECT_NAME}_LOCAL_CFG_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${${PROJECT_NAME}_LOCAL_CFG_DIR}/*.cfg") + if(${PROJECT_NAME}_LOCAL_CFG_FILES) + generate_dynamic_reconfigure_options(${${PROJECT_NAME}_LOCAL_CFG_FILES}) + # add build dep on gencfg + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS ${PROJECT_NAME}_gencfg) + endif() + endif() + endif() +endmacro() + +macro(cs_add_targets_to_package) + add_dependencies(${PROJECT_NAME}_package ${ARGN}) + list(APPEND ${PROJECT_NAME}_TARGETS ${ARGN}) +endmacro() + +macro(cs_add_executable _target) + if(${_target} STREQUAL ${PROJECT_NAME}_package) + message(WARNING "Could not create executable with name '${_target}' as '${PROJECT_NAME}_package' is reserved for the top level target name for this project.") + endif() + cmake_parse_arguments(cs_add_executable_args "NO_AUTO_LINK;NO_AUTO_DEP" "" "" ${ARGN}) + add_executable(${_target} ${cs_add_executable_args_UNPARSED_ARGUMENTS}) + if(NOT cs_add_executable_args_NO_AUTO_LINK) + target_link_libraries(${_target} ${catkin_LIBRARIES}) + endif() + if(NOT cs_add_executable_args_NO_AUTO_DEP) + if(NOT "${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}" STREQUAL "") + add_dependencies(${_target} ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}) + endif() + endif() + cs_add_targets_to_package(${_target}) +endmacro() + +macro(cs_add_library _target) + if(${_target} STREQUAL ${PROJECT_NAME}_package) + message(WARNING "Could not create library with name '${_target}' as '${PROJECT_NAME}_package' is reserved for the top level target name for this project.") + endif() + cmake_parse_arguments(cs_add_library "NO_AUTO_LINK;NO_AUTO_DEP;NO_AUTO_EXPORT" "" "" ${ARGN}) + add_library(${_target} ${cs_add_library_UNPARSED_ARGUMENTS}) + if(NOT cs_add_library_NO_AUTO_LINK) + target_link_libraries(${_target} ${catkin_LIBRARIES}) + endif() + if(NOT cs_add_library_NO_AUTO_DEP) + if(NOT "${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}" STREQUAL "") + add_dependencies(${_target} ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}) + endif() + endif() + if(NOT cs_add_library_NO_AUTO_EXPORT) + list(APPEND ${PROJECT_NAME}_LIBRARIES ${_target}) + endif() + cs_add_targets_to_package(${_target}) +endmacro() + +macro(cs_install) + # Install targets (exec's and lib's) + foreach(_target ${${PROJECT_NAME}_TARGETS}) + get_target_property(${_target}_type ${_target} TYPE) + message(STATUS "Marking ${${_target}_type} \"${_target}\" of package \"${PROJECT_NAME}\" for installation") + endforeach() + install(TARGETS ${${PROJECT_NAME}_TARGETS} ${ARGN} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + if(EXISTS ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}) + # Install include directory + message(STATUS "Marking HEADER FILES in \"include\" folder of package \"${PROJECT_NAME}\" for installation") + install(DIRECTORY ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" + PATTERN ".svn" EXCLUDE + ) + endif() + # Install shared content located in commonly used folders + set(_shared_content_folders launch rviz urdf meshes maps worlds Media param) + foreach(_folder ${_shared_content_folders}) + if(IS_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${_folder}) + message(STATUS "Marking SHARED CONTENT FOLDER \"${_folder}\" of package \"${PROJECT_NAME}\" for installation") + install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${_folder}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${_folder} + ) + endif() + endforeach() +endmacro() + +macro(cs_install_scripts) + install(PROGRAMS ${ARGN} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +endmacro() + +macro(cs_export) + cmake_parse_arguments(CS_PROJECT + "" "" "INCLUDE_DIRS;LIBRARIES;CATKIN_DEPENDS;DEPENDS;CFG_EXTRAS" + ${ARGN}) + + set(${PROJECT_NAME}_CATKIN_RUN_DEPENDS) + foreach(dep ${${PROJECT_NAME}_RUN_DEPENDS}) + find_package(${dep} QUIET) + if(${dep}_FOUND_CATKIN_PROJECT) + list(APPEND ${PROJECT_NAME}_CATKIN_RUN_DEPENDS ${dep}) + endif() + endforeach() + + catkin_package( + INCLUDE_DIRS ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR} ${CS_PROJECT_INCLUDE_DIRS} + LIBRARIES ${${PROJECT_NAME}_LIBRARIES} ${CS_PROJECT_LIBRARIES} + CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_RUN_DEPENDS} ${CS_PROJECT_CATKIN_DEPENDS} + DEPENDS ${CS_PROJECT_DEPENDS} + CFG_EXTRAS ${CS_PROJECT_CFG_EXTRAS} + ) +endmacro() diff --git a/src/catkin_simple/package.xml b/src/catkin_simple/package.xml new file mode 100644 index 0000000..3f6e070 --- /dev/null +++ b/src/catkin_simple/package.xml @@ -0,0 +1,17 @@ + + + catkin_simple + 0.1.1 + catkin, simpler + + William Woodall + Dirk Thomas + BSD + + William Woodall + Dirk Thomas + + catkin + catkin + + \ No newline at end of file diff --git a/src/catkin_simple/test/scenarios/hello_world/.gitignore b/src/catkin_simple/test/scenarios/hello_world/.gitignore new file mode 100644 index 0000000..a0f0008 --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/.gitignore @@ -0,0 +1 @@ +CMakeLists.txt diff --git a/src/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h b/src/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h new file mode 100644 index 0000000..9bb085a --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h @@ -0,0 +1 @@ +void hello(); diff --git a/src/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg b/src/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg new file mode 100644 index 0000000..9741bda --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg @@ -0,0 +1,2 @@ +Header header +string data diff --git a/src/catkin_simple/test/scenarios/hello_world/bar/package.xml b/src/catkin_simple/test/scenarios/hello_world/bar/package.xml new file mode 100644 index 0000000..d98d6e9 --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/bar/package.xml @@ -0,0 +1,18 @@ + + + bar + 0.1.0 + The bar package + William Woodall + BSD + + catkin + catkin_simple + boost + message_runtime + std_msgs + boost-dev + message_generation + std_msgs + + \ No newline at end of file diff --git a/src/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp b/src/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp new file mode 100644 index 0000000..3aed965 --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp @@ -0,0 +1,16 @@ +#include +#include + +#include + +#include + + +inline void print_hello() { + std::cout << "Hello "; +} + +void hello() { + boost::thread t(print_hello); + t.join(); +} diff --git a/src/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h b/src/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h new file mode 100644 index 0000000..766f82c --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h @@ -0,0 +1,12 @@ +#include + +#include + +void print_world() { + std::cout << "world!" << std::endl; +} + +void world() { + boost::thread t(print_world); + t.join(); +} diff --git a/src/catkin_simple/test/scenarios/hello_world/baz/package.xml b/src/catkin_simple/test/scenarios/hello_world/baz/package.xml new file mode 100644 index 0000000..db0518e --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/baz/package.xml @@ -0,0 +1,13 @@ + + + baz + 0.1.0 + The baz package + William Woodall + BSD + + catkin + boost + boost-dev + + \ No newline at end of file diff --git a/src/catkin_simple/test/scenarios/hello_world/catkin_simple b/src/catkin_simple/test/scenarios/hello_world/catkin_simple new file mode 120000 index 0000000..a8a4f8c --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/catkin_simple @@ -0,0 +1 @@ +../../.. \ No newline at end of file diff --git a/src/catkin_simple/test/scenarios/hello_world/foo/package.xml b/src/catkin_simple/test/scenarios/hello_world/foo/package.xml new file mode 100644 index 0000000..16121e4 --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/foo/package.xml @@ -0,0 +1,18 @@ + + + foo + 0.1.0 + The foo package + William Woodall + BSD + + catkin + catkin_simple + bar + bar + baz + baz + boost + boost-dev + + \ No newline at end of file diff --git a/src/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp b/src/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp new file mode 100644 index 0000000..3f59650 --- /dev/null +++ b/src/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp @@ -0,0 +1,9 @@ +#include +#include + +int main(void) { + hello(); + world(); + + return 0; +} \ No newline at end of file diff --git a/src/linefit_ground_segmentation/.gitignore b/src/linefit_ground_segmentation/.gitignore new file mode 100644 index 0000000..8b95ceb --- /dev/null +++ b/src/linefit_ground_segmentation/.gitignore @@ -0,0 +1 @@ +*.user \ No newline at end of file diff --git a/src/linefit_ground_segmentation/LICENSE b/src/linefit_ground_segmentation/LICENSE new file mode 100644 index 0000000..7809f45 --- /dev/null +++ b/src/linefit_ground_segmentation/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2017, Lorenz Wellhausen +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. \ No newline at end of file diff --git a/src/linefit_ground_segmentation/README.md b/src/linefit_ground_segmentation/README.md new file mode 100644 index 0000000..56a2f03 --- /dev/null +++ b/src/linefit_ground_segmentation/README.md @@ -0,0 +1,70 @@ +# linefit_ground_segmentation + +Implementation of the ground segmentation algorithm proposed in +``` +@inproceedings{himmelsbach2010fast, + title={Fast segmentation of 3d point clouds for ground vehicles}, + author={Himmelsbach, Michael and Hundelshausen, Felix V and Wuensche, H-J}, + booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE}, + pages={560--565}, + year={2010}, + organization={IEEE} +} +``` +The `linefit_ground_segmentation` package contains the ground segmentation library. +A ROS interface is available in `linefit_ground_segmentation_ros` + +The library can be compiled separately from the ROS interface if you're not using ROS. + +## Installation + +Requires the following dependencies to be installed: + +- *catkin_simple* `https://github.com/catkin/catkin_simple.git` +- *eigen_conversions* `sudo apt install ros-noetic-eigen-conversions` + +Compile using your favorite catkin build tool (e.g. `catkin build linefit_ground_segmentation_ros`) + +## Launch instructions + +The ground segmentation ROS node can be launch by executing `roslaunch linefit_ground_segmentation_ros segmentation.launch`. +Input and output topic names can be specified in the same file. + +Getting up and running with your own point cloud source should be as simple as: + +1. Change the `input_topic` parameter in `segmentation.launch` to your topic. +2. Adjust the `sensor_height` parameter in `segmentation_params.yaml` to the height where the sensor is mounted on your robot (e.g. KITTI Velodyne: 1.8m) + +## Parameter description + +Parameters are set in `linefit_ground_segmentation_ros/launch/segmentation_params.yaml` + +This algorithm works on the assumption that you known the height of the sensor above ground. +Therefore, **you have to adjust the `sensor_height`** to your robot specifications, otherwise, it will not work. + +The default parameters should work on the KITTI dataset. + +### Ground Condition +- **sensor_height** Sensor height above ground. +- **max_dist_to_line** maximum vertical distance of point to line to be considered ground. +- **max_slope** Maximum slope of a line. +- **min_slope** Minimum slope of a line. +- **max_fit_error** Maximum error a point is allowed to have in a line fit. +- **max_start_height** Maximum height difference between new point and estimated ground height to start a new line. +- **long_threshold** Distance after which the max_height condition is applied. +- **max_height** Maximum height difference between line points when they are farther apart than *long_threshold*. +- **line_search_angle** How far to search in angular direction to find a line. A higher angle helps fill "holes" in the ground segmentation. +- **gravity_aligned_frame** Name of a coordinate frame which has its z-axis aligned with gravity. If specified, the incoming point cloud will be rotated, but not translated into this coordinate frame. If left empty, the sensor frame will be used. + +### Segmentation + +- **r_min** Distance at which segmentation starts. +- **r_max** Distance at which segmentation ends. +- **n_bins** Number of radial bins. +- **n_segments** Number of angular segments. + +### Other + +- **n_threads** Number of threads to use. +- **latch** Latch output point clouds in ROS node. +- **visualize** Visualize the segmentation result. **ONLY FOR DEBUGGING.** Do not set true during online operation. diff --git a/src/linefit_ground_segmentation/doc/kitti.ply b/src/linefit_ground_segmentation/doc/kitti.ply new file mode 100644 index 0000000..fdafed1 --- /dev/null +++ b/src/linefit_ground_segmentation/doc/kitti.ply @@ -0,0 +1,122557 @@ +ply +format ascii 1.0 +comment PCL generated +obj_info is_cyberware_data 0 +obj_info is_mesh 0 +obj_info is_warped 0 +obj_info is_interlaced 0 +obj_info num_cols 122527 +obj_info num_rows 1 +obj_info echo_rgb_offset_x 0 +obj_info echo_rgb_offset_y 0 +obj_info echo_rgb_offset_z 0 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0 0 0 0 +3.828 -1.421 -1.788 0 0 0 0 0 0 0 diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/CMakeLists.txt b/src/linefit_ground_segmentation/linefit_ground_segmentation/CMakeLists.txt new file mode 100644 index 0000000..bb9106f --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 2.8.3) +project(linefit_ground_segmentation) + +find_package(catkin_simple 0.1.0 REQUIRED ) + +catkin_simple(ALL_DEPS_REQUIRED) + +add_definitions(-std=c++14) + +find_package(PCL REQUIRED) +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) + +find_package(Eigen3 REQUIRED) +include_directories(${Eigen_INCLUDE_DIRS}) + +cs_add_library(${PROJECT_NAME} src/ground_segmentation.cc src/segment.cc src/bin.cc src/viewer.cc) + +#add_doxygen(NOT_AUTOMATIC) + +cs_install() +cs_export() + +############# +# QTCREATOR # +############# +FILE(GLOB_RECURSE LibFiles "include/*") +add_custom_target(headers SOURCES ${LibFiles}) diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/bin.h b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/bin.h new file mode 100644 index 0000000..3a16091 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/bin.h @@ -0,0 +1,43 @@ +#ifndef GROUND_SEGMENTATION_BIN_H_ +#define GROUND_SEGMENTATION_BIN_H_ + +#include + +#include +#include + +class Bin { +public: + struct MinZPoint { + MinZPoint() : z(0), d(0) {} + MinZPoint(const double& d, const double& z) : z(z), d(d) {} + bool operator==(const MinZPoint& comp) {return z == comp.z && d == comp.d;} + + double z; + double d; + }; + +private: + + std::atomic has_point_; + std::atomic min_z; + std::atomic min_z_range; + +public: + + Bin(); + + /// \brief Fake copy constructor to allow vector > initialization. + Bin(const Bin& segment); + + void addPoint(const pcl::PointXYZ& point); + + void addPoint(const double& d, const double& z); + + MinZPoint getMinZPoint(); + + inline bool hasPoint() {return has_point_;} + +}; + +#endif /* GROUND_SEGMENTATION_BIN_H_ */ diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h new file mode 100644 index 0000000..6dca5fa --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/ground_segmentation.h @@ -0,0 +1,120 @@ +#ifndef GROUND_SEGMENTATION_H_ +#define GROUND_SEGMENTATION_H_ + +#include + +#include "ground_segmentation/segment.h" +#include "ground_segmentation/typedefs.h" +#include "ground_segmentation/viewer.h" + +struct GroundSegmentationParams { + GroundSegmentationParams() : + visualize(false), + r_min_square(0.3 * 0.3), + r_max_square(20*20), + n_bins(30), + n_segments(180), + max_dist_to_line(0.15), + min_slope(0), + max_slope(1), + n_threads(4), + max_error_square(0.01), + long_threshold(2.0), + max_long_height(0.1), + max_start_height(0.2), + sensor_height(0.2), + line_search_angle(0.2) {} + + // Visualize estimated ground. + bool visualize; + // Minimum range of segmentation. + double r_min_square; + // Maximum range of segmentation. + double r_max_square; + // Number of radial bins. + int n_bins; + // Number of angular segments. + int n_segments; + // Maximum distance to a ground line to be classified as ground. + double max_dist_to_line; + // Min slope to be considered ground line. + double min_slope; + // Max slope to be considered ground line. + double max_slope; + // Max error for line fit. + double max_error_square; + // Distance at which points are considered far from each other. + double long_threshold; + // Maximum slope for + double max_long_height; + // Maximum heigh of starting line to be labelled ground. + double max_start_height; + // Height of sensor above ground. + double sensor_height; + // How far to search for a line in angular direction [rad]. + double line_search_angle; + // Number of threads. + int n_threads; +}; + +typedef pcl::PointCloud PointCloud; + +typedef std::pair PointLine; + +class GroundSegmentation { + + const GroundSegmentationParams params_; + + // Access with segments_[segment][bin]. + std::vector segments_; + + // Bin index of every point. + std::vector > bin_index_; + + // 2D coordinates (d, z) of every point in its respective segment. + std::vector segment_coordinates_; + + // Visualizer. + std::unique_ptr viewer_; + + void assignCluster(std::vector* segmentation); + + void assignClusterThread(const unsigned int& start_index, + const unsigned int& end_index, + std::vector* segmentation); + + void insertPoints(const PointCloud& cloud); + + void insertionThread(const PointCloud& cloud, + const size_t start_index, + const size_t end_index); + + void getMinZPoints(PointCloud* out_cloud); + + void getLines(std::list* lines); + + void lineFitThread(const unsigned int start_index, const unsigned int end_index, + std::list *lines, std::mutex* lines_mutex); + + pcl::PointXYZ minZPointTo3d(const Bin::MinZPoint& min_z_point, const double& angle); + + void getMinZPointCloud(PointCloud* cloud); + + void resetSegments(); + + void visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id = "point_cloud"); + + void visualizeLines(const std::list& lines); + + void visualize(const std::list& lines, const PointCloud::ConstPtr& cloud, const PointCloud::ConstPtr& ground_cloud, const PointCloud::ConstPtr& obstacle_cloud); + +public: + + GroundSegmentation(const GroundSegmentationParams& params = GroundSegmentationParams()); + + void segment(const PointCloud& cloud, std::vector* segmentation); + +}; + +#endif // GROUND_SEGMENTATION_H_ diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/segment.h b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/segment.h new file mode 100644 index 0000000..bf14c46 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/segment.h @@ -0,0 +1,69 @@ +#ifndef GROUND_SEGMENTATION_SEGMENT_H_ +#define GROUND_SEGMENTATION_SEGMENT_H_ + +#include +#include + +#include "ground_segmentation/bin.h" + +class Segment { +public: + typedef std::pair Line; + + typedef std::pair LocalLine; + +private: + // Parameters. Description in GroundSegmentation. + const double min_slope_; + const double max_slope_; + const double max_error_; + const double long_threshold_; + const double max_long_height_; + const double max_start_height_; + const double sensor_height_; + + std::vector bins_; + + std::list lines_; + + LocalLine fitLocalLine(const std::list& points); + + double getMeanError(const std::list& points, const LocalLine& line); + + double getMaxError(const std::list& points, const LocalLine& line); + + Line localLineToLine(const LocalLine& local_line, const std::list& line_points); + + +public: + + Segment(const unsigned int& n_bins, + const double& min_slope, + const double& max_slope, + const double& max_error, + const double& long_threshold, + const double& max_long_height, + const double& max_start_height, + const double& sensor_height); + + double verticalDistanceToLine(const double& d, const double &z); + + void fitSegmentLines(); + + inline Bin& operator[](const size_t& index) { + return bins_[index]; + } + + inline std::vector::iterator begin() { + return bins_.begin(); + } + + inline std::vector::iterator end() { + return bins_.end(); + } + + bool getLines(std::list* lines); + +}; + +#endif /* GROUND_SEGMENTATION_SEGMENT_H_ */ diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/typedefs.h b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/typedefs.h new file mode 100644 index 0000000..e21f19f --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/typedefs.h @@ -0,0 +1,9 @@ +#pragma once + +#include +#include + + +typedef pcl::PointCloud PointCloud; + +typedef std::pair PointLine; diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/viewer.h b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/viewer.h new file mode 100644 index 0000000..93777fa --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/include/ground_segmentation/viewer.h @@ -0,0 +1,39 @@ +#pragma once + +#include +#include +#include + +#include + +#include "ground_segmentation/typedefs.h" + + +class Viewer { +public: + Viewer(); + ~Viewer(); + + void visualize(const std::list& lines, + const PointCloud::ConstPtr& min_cloud, + const PointCloud::ConstPtr& ground_cloud, + const PointCloud::ConstPtr& obstacle_cloud); + +protected: + + // Visualizer. + pcl::visualization::PCLVisualizer viewer_; + std::thread view_thread_; + std::mutex viewer_mutex_; + std::atomic redraw_{true}; + + void visualizeLines(const std::list& lines); + + void visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id); + + void addEmptyPointCloud(const std::string& id); + + void drawThread(); + +}; diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/package.xml b/src/linefit_ground_segmentation/linefit_ground_segmentation/package.xml new file mode 100644 index 0000000..39798ce --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/package.xml @@ -0,0 +1,15 @@ + + + linefit_ground_segmentation + 0.0.1 + linefit_ground_segmentation + + Lorenz Wellhausen + + BSD + + catkin + catkin_simple + + + diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/src/bin.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/bin.cc new file mode 100644 index 0000000..d4ac210 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/bin.cc @@ -0,0 +1,32 @@ +#include "ground_segmentation/bin.h" + +#include + +Bin::Bin() : min_z(std::numeric_limits::max()), has_point_(false) {} + +Bin::Bin(const Bin& bin) : min_z(std::numeric_limits::max()), + has_point_(false) {} + +void Bin::addPoint(const pcl::PointXYZ& point) { + const double d = sqrt(point.x * point.x + point.y * point.y); + addPoint(d, point.z); +} + +void Bin::addPoint(const double& d, const double& z) { + has_point_ = true; + if (z < min_z) { + min_z = z; + min_z_range = d; + } +} + +Bin::MinZPoint Bin::getMinZPoint() { + MinZPoint point; + + if (has_point_) { + point.z = min_z; + point.d = min_z_range; + } + + return point; +} diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/src/ground_segmentation.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/ground_segmentation.cc new file mode 100644 index 0000000..defcef1 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/ground_segmentation.cc @@ -0,0 +1,262 @@ +#include "ground_segmentation/ground_segmentation.h" + +#include +#include +#include +#include +#include + +using namespace std::chrono_literals; + + +GroundSegmentation::GroundSegmentation(const GroundSegmentationParams& params) : + params_(params), + segments_(params.n_segments, Segment(params.n_bins, + params.min_slope, + params.max_slope, + params.max_error_square, + params.long_threshold, + params.max_long_height, + params.max_start_height, + params.sensor_height)) { + if (params.visualize) viewer_.reset(new Viewer()); +} + +void GroundSegmentation::segment(const PointCloud& cloud, std::vector* segmentation) { + std::cout << "Segmenting cloud with " << cloud.size() << " points...\n"; + std::chrono::high_resolution_clock::time_point start = std::chrono::high_resolution_clock::now(); + segmentation->clear(); + segmentation->resize(cloud.size(), 0); + bin_index_.resize(cloud.size()); + segment_coordinates_.resize(cloud.size()); + resetSegments(); + + insertPoints(cloud); + std::list lines; + if (params_.visualize) { + getLines(&lines); + } + else { + getLines(NULL); + } + assignCluster(segmentation); + + size_t n_ground = 0; + for (const auto seg: *segmentation) { + n_ground += seg; + } +/* + if (params_.visualize) { + // Visualize. + PointCloud::Ptr obstacle_cloud = std::make_shared(); + obstacle_cloud->reserve(segmentation->size() - n_ground); + // Get cloud of ground points. + PointCloud::Ptr ground_cloud = std::make_shared(); + ground_cloud->reserve(n_ground); + for (size_t i = 0; i < cloud.size(); ++i) { + if (segmentation->at(i) == 1) ground_cloud->push_back(cloud[i]); + else obstacle_cloud->push_back(cloud[i]); + } + PointCloud::Ptr min_cloud = std::make_shared(); + getMinZPointCloud(min_cloud.get()); + viewer_->visualize(lines, min_cloud, ground_cloud, obstacle_cloud); + }*/ + std::chrono::high_resolution_clock::time_point end = std::chrono::high_resolution_clock::now(); + std::chrono::duration fp_ms = end - start; + std::cout << "Done! Took " << fp_ms.count() << "ms\n"; +} + +void GroundSegmentation::getLines(std::list *lines) { + std::mutex line_mutex; + std::vector thread_vec(params_.n_threads); + unsigned int i; + for (i = 0; i < params_.n_threads; ++i) { + const unsigned int start_index = params_.n_segments / params_.n_threads * i; + const unsigned int end_index = params_.n_segments / params_.n_threads * (i+1); + thread_vec[i] = std::thread(&GroundSegmentation::lineFitThread, this, + start_index, end_index, lines, &line_mutex); + } + for (auto it = thread_vec.begin(); it != thread_vec.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::lineFitThread(const unsigned int start_index, + const unsigned int end_index, + std::list *lines, std::mutex* lines_mutex) { + const bool visualize = lines; + const double seg_step = 2*M_PI / params_.n_segments; + double angle = -M_PI + seg_step/2 + seg_step * start_index; + for (unsigned int i = start_index; i < end_index; ++i) { + segments_[i].fitSegmentLines(); + // Convert lines to 3d if we want to. + if (visualize) { + std::list segment_lines; + segments_[i].getLines(&segment_lines); + for (auto line_iter = segment_lines.begin(); line_iter != segment_lines.end(); ++line_iter) { + const pcl::PointXYZ start = minZPointTo3d(line_iter->first, angle); + const pcl::PointXYZ end = minZPointTo3d(line_iter->second, angle); + lines_mutex->lock(); + lines->emplace_back(start, end); + lines_mutex->unlock(); + } + + angle += seg_step; + } + } +} + +void GroundSegmentation::getMinZPointCloud(PointCloud* cloud) { + cloud->reserve(params_.n_segments * params_.n_bins); + const double seg_step = 2*M_PI / params_.n_segments; + double angle = -M_PI + seg_step/2; + for (auto seg_iter = segments_.begin(); seg_iter != segments_.end(); ++seg_iter) { + for (auto bin_iter = seg_iter->begin(); bin_iter != seg_iter->end(); ++bin_iter) { + const pcl::PointXYZ min = minZPointTo3d(bin_iter->getMinZPoint(), angle); + cloud->push_back(min); + } + + angle += seg_step; + } +} + +void GroundSegmentation::resetSegments() { + segments_ = std::vector(params_.n_segments, Segment(params_.n_bins, + params_.min_slope, + params_.max_slope, + params_.max_error_square, + params_.long_threshold, + params_.max_long_height, + params_.max_start_height, + params_.sensor_height)); +} + +pcl::PointXYZ GroundSegmentation::minZPointTo3d(const Bin::MinZPoint &min_z_point, + const double &angle) { + pcl::PointXYZ point; + point.x = cos(angle) * min_z_point.d; + point.y = sin(angle) * min_z_point.d; + point.z = min_z_point.z; + return point; +} + +void GroundSegmentation::assignCluster(std::vector* segmentation) { + std::vector thread_vec(params_.n_threads); + const size_t cloud_size = segmentation->size(); + for (unsigned int i = 0; i < params_.n_threads; ++i) { + const unsigned int start_index = cloud_size / params_.n_threads * i; + const unsigned int end_index = cloud_size / params_.n_threads * (i+1); + thread_vec[i] = std::thread(&GroundSegmentation::assignClusterThread, this, + start_index, end_index, segmentation); + } + for (auto it = thread_vec.begin(); it != thread_vec.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::assignClusterThread(const unsigned int &start_index, + const unsigned int &end_index, + std::vector *segmentation) { + const double segment_step = 2*M_PI/params_.n_segments; + for (unsigned int i = start_index; i < end_index; ++i) { + Bin::MinZPoint point_2d = segment_coordinates_[i]; + const int segment_index = bin_index_[i].first; + if (segment_index >= 0) { + double dist = segments_[segment_index].verticalDistanceToLine(point_2d.d, point_2d.z); + // Search neighboring segments. + int steps = 1; + while (dist == -1 && steps * segment_step < params_.line_search_angle) { + // Fix indices that are out of bounds. + int index_1 = segment_index + steps; + while (index_1 >= params_.n_segments) index_1 -= params_.n_segments; + int index_2 = segment_index - steps; + while (index_2 < 0) index_2 += params_.n_segments; + // Get distance to neighboring lines. + const double dist_1 = segments_[index_1].verticalDistanceToLine(point_2d.d, point_2d.z); + const double dist_2 = segments_[index_2].verticalDistanceToLine(point_2d.d, point_2d.z); + // Select larger distance if both segments return a valid distance. + if (dist_1 > dist) { + dist = dist_1; + } + if (dist_2 > dist) { + dist = dist_2; + } + ++steps; + } + if (dist < params_.max_dist_to_line && dist != -1) { + segmentation->at(i) = 1; + } + } + } +} + +void GroundSegmentation::getMinZPoints(PointCloud* out_cloud) { + const double seg_step = 2*M_PI / params_.n_segments; + const double bin_step = (sqrt(params_.r_max_square) - sqrt(params_.r_min_square)) + / params_.n_bins; + const double r_min = sqrt(params_.r_min_square); + double angle = -M_PI + seg_step/2; + for (auto seg_iter = segments_.begin(); seg_iter != segments_.end(); ++seg_iter) { + double dist = r_min + bin_step/2; + for (auto bin_iter = seg_iter->begin(); bin_iter != seg_iter->end(); ++bin_iter) { + pcl::PointXYZ point; + if (bin_iter->hasPoint()) { + Bin::MinZPoint min_z_point(bin_iter->getMinZPoint()); + point.x = cos(angle) * min_z_point.d; + point.y = sin(angle) * min_z_point.d; + point.z = min_z_point.z; + + out_cloud->push_back(point); + } + dist += bin_step; + } + angle += seg_step; + } +} + +void GroundSegmentation::insertPoints(const PointCloud& cloud) { + std::vector threads(params_.n_threads); + const size_t points_per_thread = cloud.size() / params_.n_threads; + // Launch threads. + for (unsigned int i = 0; i < params_.n_threads - 1; ++i) { + const size_t start_index = i * points_per_thread; + const size_t end_index = (i+1) * points_per_thread; + threads[i] = std::thread(&GroundSegmentation::insertionThread, this, + cloud, start_index, end_index); + } + // Launch last thread which might have more points than others. + const size_t start_index = (params_.n_threads - 1) * points_per_thread; + const size_t end_index = cloud.size(); + threads[params_.n_threads - 1] = + std::thread(&GroundSegmentation::insertionThread, this, cloud, start_index, end_index); + // Wait for threads to finish. + for (auto it = threads.begin(); it != threads.end(); ++it) { + it->join(); + } +} + +void GroundSegmentation::insertionThread(const PointCloud& cloud, + const size_t start_index, + const size_t end_index) { + const double segment_step = 2*M_PI / params_.n_segments; + const double bin_step = (sqrt(params_.r_max_square) - sqrt(params_.r_min_square)) + / params_.n_bins; + const double r_min = sqrt(params_.r_min_square); + for (unsigned int i = start_index; i < end_index; ++i) { + pcl::PointXYZ point(cloud[i]); + const double range_square = point.x * point.x + point.y * point.y; + const double range = sqrt(range_square); + if (range_square < params_.r_max_square && range_square > params_.r_min_square) { + const double angle = std::atan2(point.y, point.x); + const unsigned int bin_index = (range - r_min) / bin_step; + const unsigned int segment_index = (angle + M_PI) / segment_step; + const unsigned int segment_index_clamped = segment_index == params_.n_segments ? 0 : segment_index; + segments_[segment_index_clamped][bin_index].addPoint(range, point.z); + bin_index_[i] = std::make_pair(segment_index_clamped, bin_index); + } + else { + bin_index_[i] = std::make_pair(-1, -1); + } + segment_coordinates_[i] = Bin::MinZPoint(range, point.z); + } +} diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/src/segment.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/segment.cc new file mode 100644 index 0000000..48acf8c --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/segment.cc @@ -0,0 +1,162 @@ +#include "ground_segmentation/segment.h" + +Segment::Segment(const unsigned int& n_bins, + const double& min_slope, + const double& max_slope, + const double& max_error, + const double& long_threshold, + const double& max_long_height, + const double& max_start_height, + const double& sensor_height) : + bins_(n_bins), + min_slope_(min_slope), + max_slope_(max_slope), + max_error_(max_error), + long_threshold_(long_threshold), + max_long_height_(max_long_height), + max_start_height_(max_start_height), + sensor_height_(sensor_height){} + +void Segment::fitSegmentLines() { + // Find first point. + auto line_start = bins_.begin(); + while (!line_start->hasPoint()) { + ++line_start; + // Stop if we reached last point. + if (line_start == bins_.end()) return; + } + // Fill lines. + bool is_long_line = false; + double cur_ground_height = -sensor_height_; + std::list current_line_points(1, line_start->getMinZPoint()); + LocalLine cur_line = std::make_pair(0,0); + for (auto line_iter = line_start+1; line_iter != bins_.end(); ++line_iter) { + if (line_iter->hasPoint()) { + Bin::MinZPoint cur_point = line_iter->getMinZPoint(); + if (cur_point.d - current_line_points.back().d > long_threshold_) is_long_line = true; + if (current_line_points.size() >= 2) { + // Get expected z value to possibly reject far away points. + double expected_z = std::numeric_limits::max(); + if (is_long_line && current_line_points.size() > 2) { + expected_z = cur_line.first * cur_point.d + cur_line.second; + } + current_line_points.push_back(cur_point); + cur_line = fitLocalLine(current_line_points); + const double error = getMaxError(current_line_points, cur_line); + // Check if not a good line. + if (error > max_error_ || + std::fabs(cur_line.first) > max_slope_ || + (current_line_points.size() > 2 && std::fabs(cur_line.first) < min_slope_) || + is_long_line && std::fabs(expected_z - cur_point.z) > max_long_height_) { + // Add line until previous point as ground. + current_line_points.pop_back(); + // Don't let lines with 2 base points through. + if (current_line_points.size() >= 3) { + const LocalLine new_line = fitLocalLine(current_line_points); + lines_.push_back(localLineToLine(new_line, current_line_points)); + cur_ground_height = new_line.first * current_line_points.back().d + new_line.second; + } + // Start new line. + is_long_line = false; + current_line_points.erase(current_line_points.begin(), --current_line_points.end()); + --line_iter; + } + // Good line, continue. + else { } + } + else { + // Not enough points. + if (cur_point.d - current_line_points.back().d < long_threshold_ && + std::fabs(current_line_points.back().z - cur_ground_height) < max_start_height_) { + // Add point if valid. + current_line_points.push_back(cur_point); + } + else { + // Start new line. + current_line_points.clear(); + current_line_points.push_back(cur_point); + } + } + } + } + // Add last line. + if (current_line_points.size() > 2) { + const LocalLine new_line = fitLocalLine(current_line_points); + lines_.push_back(localLineToLine(new_line, current_line_points)); + } +} + +Segment::Line Segment::localLineToLine(const LocalLine& local_line, + const std::list& line_points) { + Line line; + const double first_d = line_points.front().d; + const double second_d = line_points.back().d; + const double first_z = local_line.first * first_d + local_line.second; + const double second_z = local_line.first * second_d + local_line.second; + line.first.z = first_z; + line.first.d = first_d; + line.second.z = second_z; + line.second.d = second_d; + return line; +} + +double Segment::verticalDistanceToLine(const double &d, const double &z) { + static const double kMargin = 0.1; + double distance = -1; + for (auto it = lines_.begin(); it != lines_.end(); ++it) { + if (it->first.d - kMargin < d && it->second.d + kMargin > d) { + const double delta_z = it->second.z - it->first.z; + const double delta_d = it->second.d - it->first.d; + const double expected_z = (d - it->first.d)/delta_d *delta_z + it->first.z; + distance = std::fabs(z - expected_z); + } + } + return distance; +} + +double Segment::getMeanError(const std::list &points, const LocalLine &line) { + double error_sum = 0; + for (auto it = points.begin(); it != points.end(); ++it) { + const double residual = (line.first * it->d + line.second) - it->z; + error_sum += residual * residual; + } + return error_sum/points.size(); +} + +double Segment::getMaxError(const std::list &points, const LocalLine &line) { + double max_error = 0; + for (auto it = points.begin(); it != points.end(); ++it) { + const double residual = (line.first * it->d + line.second) - it->z; + const double error = residual * residual; + if (error > max_error) max_error = error; + } + return max_error; +} + +Segment::LocalLine Segment::fitLocalLine(const std::list &points) { + const unsigned int n_points = points.size(); + Eigen::MatrixXd X(n_points, 2); + Eigen::VectorXd Y(n_points); + unsigned int counter = 0; + for (auto iter = points.begin(); iter != points.end(); ++iter) { + X(counter, 0) = iter->d; + X(counter, 1) = 1; + Y(counter) = iter->z; + ++counter; + } + Eigen::VectorXd result = X.colPivHouseholderQr().solve(Y); + LocalLine line_result; + line_result.first = result(0); + line_result.second = result(1); + return line_result; +} + +bool Segment::getLines(std::list *lines) { + if (lines_.empty()) { + return false; + } + else { + *lines = lines_; + return true; + } +} diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation/src/viewer.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/viewer.cc new file mode 100644 index 0000000..f6afe0d --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation/src/viewer.cc @@ -0,0 +1,101 @@ +#include "ground_segmentation/viewer.h" + +#include + +using namespace std::chrono_literals; + + + +Viewer::Viewer() { + std::lock_guard lock(viewer_mutex_); + + viewer_.setBackgroundColor (0, 0, 0); + viewer_.addCoordinateSystem (1.0); + viewer_.initCameraParameters (); + viewer_.setCameraPosition(-2.0, 0, 2.0, 1.0, 0, 0); + + addEmptyPointCloud("min_cloud"); + addEmptyPointCloud("ground_cloud"); + addEmptyPointCloud("obstacle_cloud"); + + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, + 0.0f, 1.0f, 0.0f, + "min_cloud"); + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, + 2.0f, + "min_cloud"); + viewer_.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, + 1.0f, 0.0f, 0.0f, + "ground_cloud"); + + view_thread_ = std::thread(&Viewer::drawThread, this); +} + + + +Viewer::~Viewer() { + redraw_ = false; + + { + std::lock_guard lock(viewer_mutex_); + viewer_.close(); + } + + view_thread_.join(); +} + + + +void Viewer::visualize(const std::list& lines, + const PointCloud::ConstPtr& min_cloud, + const PointCloud::ConstPtr& ground_cloud, + const PointCloud::ConstPtr& obstacle_cloud) { + redraw_ = false; + std::lock_guard lock(viewer_mutex_); + // TODO: Do not delete and add every time. + viewer_.removeAllShapes(); + visualizePointCloud(min_cloud, "min_cloud"); + visualizePointCloud(ground_cloud, "ground_cloud"); + visualizePointCloud(obstacle_cloud, "obstacle_cloud"); + visualizeLines(lines); +} + + + +void Viewer::visualizeLines(const std::list& lines) { + size_t counter = 0; + for (auto it = lines.begin(); it != lines.end(); ++it) { + viewer_.addLine(it->first, it->second, std::to_string(counter++)); + } +} + + + +void Viewer::visualizePointCloud(const PointCloud::ConstPtr& cloud, + const std::string& id) { + viewer_.updatePointCloud(cloud, id); +} + + + +void Viewer::addEmptyPointCloud(const std::string& id) { + viewer_.addPointCloud(PointCloud().makeShared(), id); +} + + + +void Viewer::drawThread() { + bool stopped = false; + while (!stopped) { + { + std::lock_guard lock(viewer_mutex_); + redraw_ = true; + while (redraw_) { + viewer_.spinOnce(1); + } + } + std::this_thread::sleep_for(1ms); + std::lock_guard lock(viewer_mutex_); + stopped = viewer_.wasStopped(); + } +} diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/CMakeLists.txt b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/CMakeLists.txt new file mode 100644 index 0000000..4560d7f --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 2.8.3) +project(linefit_ground_segmentation_ros) + +find_package(catkin_simple 0.1.0 REQUIRED ) + +catkin_simple(ALL_DEPS_REQUIRED) + +add_definitions(-std=c++14) + +find_package(PCL REQUIRED) +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) + +add_executable(ground_segmentation_node src/ground_segmentation_node.cc) +add_executable(ground_segmentation_test_node src/ground_segmentation_test_node.cc) +target_link_libraries(ground_segmentation_node ${catkin_LIBRARIES} ${PCL_LIBRARIES}) +target_link_libraries(ground_segmentation_test_node ${catkin_LIBRARIES} ${PCL_LIBRARIES}) + +#add_doxygen(NOT_AUTOMATIC) + +cs_install() +cs_export() + +############# +# QTCREATOR # +############# +FILE(GLOB_RECURSE LibFiles "include/*") +add_custom_target(headers SOURCES ${LibFiles}) diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation.launch b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation.launch new file mode 100644 index 0000000..8ca662e --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation_params.yaml b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation_params.yaml new file mode 100644 index 0000000..ad773e8 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation_params.yaml @@ -0,0 +1,22 @@ +n_threads: 4 # number of threads to use. + +r_min: 0.5 # minimum point distance. +r_max: 50 # maximum point distance. +n_bins: 120 # number of radial bins. +n_segments: 360 # number of radial segments. + +max_dist_to_line: 0.05 # maximum vertical distance of point to line to be considered ground. + +sensor_height: 1.8 # sensor height above ground. +min_slope: 0.0 # minimum slope of a ground line. +max_slope: 0.3 # maximum slope of a ground line. +max_fit_error: 0.05 # maximum error of a point during line fit. +long_threshold: 1.0 # distance between points after which they are considered far from each other. +max_long_height: 0.1 # maximum height change to previous point in long line. +max_start_height: 0.2 # maximum difference to estimated ground height to start a new line. +line_search_angle: 0.1 # how far to search in angular direction to find a line [rad]. + +gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + +latch: false # latch output topics or not +visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/test.launch b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/test.launch new file mode 100644 index 0000000..0797973 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/test.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/package.xml b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/package.xml new file mode 100644 index 0000000..f721e32 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/package.xml @@ -0,0 +1,21 @@ + + + linefit_ground_segmentation_ros + 0.0.1 + linefit_ground_segmentation_ros + + Lorenz Wellhausen + + BSD + + catkin + catkin_simple + + eigen_conversions + roscpp + tf2_ros + + linefit_ground_segmentation + + + diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc new file mode 100644 index 0000000..f526c32 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_node.cc @@ -0,0 +1,115 @@ +#include +#include +#include +#include +#include +#include +#include + +#include "ground_segmentation/ground_segmentation.h" + +class SegmentationNode { + ros::Publisher ground_pub_; + ros::Publisher obstacle_pub_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_{tf_buffer_}; + GroundSegmentationParams params_; + GroundSegmentation segmenter_; + std::string gravity_aligned_frame_; + +public: + SegmentationNode(ros::NodeHandle& nh, + const std::string& ground_topic, + const std::string& obstacle_topic, + const GroundSegmentationParams& params, + const bool& latch = false) : params_(params), segmenter_(params) { + ground_pub_ = nh.advertise>(ground_topic, 1, latch); + obstacle_pub_ = nh.advertise>(obstacle_topic, 1, latch); + nh.param("gravity_aligned_frame", gravity_aligned_frame_, ""); + } + + void scanCallback(const pcl::PointCloud& cloud) { + pcl::PointCloud cloud_transformed; + + std::vector labels; + + bool is_original_pc = true; + if (!gravity_aligned_frame_.empty()) { + geometry_msgs::TransformStamped tf_stamped; + try{ + tf_stamped = tf_buffer_.lookupTransform(gravity_aligned_frame_, cloud.header.frame_id, + pcl_conversions::fromPCL(cloud.header.stamp)); + // Remove translation part. + tf_stamped.transform.translation.x = 0; + tf_stamped.transform.translation.y = 0; + tf_stamped.transform.translation.z = 0; + Eigen::Affine3d tf; + tf::transformMsgToEigen(tf_stamped.transform, tf); + pcl::transformPointCloud(cloud, cloud_transformed, tf); + is_original_pc = false; + } + catch (tf2::TransformException &ex) { + ROS_WARN_THROTTLE(1.0, "Failed to transform point cloud into gravity frame: %s",ex.what()); + } + } + + // Trick to avoid PC copy if we do not transform. + const pcl::PointCloud& cloud_proc = is_original_pc ? cloud : cloud_transformed; + + segmenter_.segment(cloud_proc, &labels); + pcl::PointCloud ground_cloud, obstacle_cloud; + ground_cloud.header = cloud.header; + obstacle_cloud.header = cloud.header; + for (size_t i = 0; i < cloud.size(); ++i) { + if (labels[i] == 1) ground_cloud.push_back(cloud[i]); + else obstacle_cloud.push_back(cloud[i]); + } + ground_pub_.publish(ground_cloud); + obstacle_pub_.publish(obstacle_cloud); + } +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "ground_segmentation"); + + ros::NodeHandle nh("~"); + + // Do parameter stuff. + GroundSegmentationParams params; + nh.param("visualize", params.visualize, params.visualize); + nh.param("n_bins", params.n_bins, params.n_bins); + nh.param("n_segments", params.n_segments, params.n_segments); + nh.param("max_dist_to_line", params.max_dist_to_line, params.max_dist_to_line); + nh.param("max_slope", params.max_slope, params.max_slope); + nh.param("min_slope", params.min_slope, params.min_slope); + nh.param("long_threshold", params.long_threshold, params.long_threshold); + nh.param("max_long_height", params.max_long_height, params.max_long_height); + nh.param("max_start_height", params.max_start_height, params.max_start_height); + nh.param("sensor_height", params.sensor_height, params.sensor_height); + nh.param("line_search_angle", params.line_search_angle, params.line_search_angle); + nh.param("n_threads", params.n_threads, params.n_threads); + // Params that need to be squared. + double r_min, r_max, max_fit_error; + if (nh.getParam("r_min", r_min)) { + params.r_min_square = r_min*r_min; + } + if (nh.getParam("r_max", r_max)) { + params.r_max_square = r_max*r_max; + } + if (nh.getParam("max_fit_error", max_fit_error)) { + params.max_error_square = max_fit_error * max_fit_error; + } + + std::string ground_topic, obstacle_topic, input_topic; + bool latch; + nh.param("input_topic", input_topic, "input_cloud"); + nh.param("ground_output_topic", ground_topic, "ground_cloud"); + nh.param("obstacle_output_topic", obstacle_topic, "obstacle_cloud"); + nh.param("latch", latch, false); + + // Start node. + SegmentationNode node(nh, ground_topic, obstacle_topic, params, latch); + ros::Subscriber cloud_sub; + cloud_sub = nh.subscribe(input_topic, 1, &SegmentationNode::scanCallback, &node); + ros::spin(); +} diff --git a/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc new file mode 100644 index 0000000..d3808b5 --- /dev/null +++ b/src/linefit_ground_segmentation/linefit_ground_segmentation_ros/src/ground_segmentation_test_node.cc @@ -0,0 +1,52 @@ +#include +#include +#include + +#include "ground_segmentation/ground_segmentation.h" + +int main(int argc, char** argv) { + ros::init(argc, argv, "ground_segmentation"); + + ros::NodeHandle nh("~"); + + std::string cloud_file; + if (nh.getParam("point_cloud_file", cloud_file)) { + std::cout << "Point cloud file is \"" << cloud_file << "\"\n"; + pcl::PointCloud cloud; + pcl::io::loadPLYFile(cloud_file, cloud); + + GroundSegmentationParams params; + nh.param("visualize", params.visualize, params.visualize); + nh.param("n_bins", params.n_bins, params.n_bins); + nh.param("n_segments", params.n_segments, params.n_segments); + nh.param("max_dist_to_line", params.max_dist_to_line, params.max_dist_to_line); + nh.param("max_slope", params.max_slope, params.max_slope); + nh.param("long_threshold", params.long_threshold, params.long_threshold); + nh.param("max_long_height", params.max_long_height, params.max_long_height); + nh.param("max_start_height", params.max_start_height, params.max_start_height); + nh.param("sensor_height", params.sensor_height, params.sensor_height); + nh.param("line_search_angle", params.line_search_angle, params.line_search_angle); + nh.param("n_threads", params.n_threads, params.n_threads); + // Params that need to be squared. + double r_min, r_max, max_fit_error; + if (nh.getParam("r_min", r_min)) { + params.r_min_square = r_min*r_min; + } + if (nh.getParam("r_max", r_max)) { + params.r_max_square = r_max*r_max; + } + if (nh.getParam("max_fit_error", max_fit_error)) { + params.max_error_square = max_fit_error * max_fit_error; + } + + GroundSegmentation segmenter(params); + std::vector labels; + + segmenter.segment(cloud, &labels); + + ros::spin(); + } + else { + std::cerr << "No point cloud file given\n"; + } +} diff --git a/src/navigation/.gitignore b/src/navigation/.gitignore new file mode 100644 index 0000000..f9f3d9c --- /dev/null +++ b/src/navigation/.gitignore @@ -0,0 +1,4 @@ +*~ +*.project +*.cproject + diff --git a/src/navigation/README.md b/src/navigation/README.md new file mode 100644 index 0000000..4045289 --- /dev/null +++ b/src/navigation/README.md @@ -0,0 +1,17 @@ +ROS Navigation Stack +==================== + +A 2D navigation stack that takes in information from odometry, sensor +streams, and a goal pose and outputs safe velocity commands that are sent +to a mobile base. + + * AMD64 Debian Job Status: [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__navigation__ubuntu_bionic_amd64__binary)](http://build.ros.org/job/Mbin_uB64__navigation__ubuntu_bionic_amd64__binary/) + +Related stacks: + + * http://github.com/ros-planning/navigation_msgs (new in Jade+) + * http://github.com/ros-planning/navigation_tutorials + * http://github.com/ros-planning/navigation_experimental + +For discussion, please check out the +https://groups.google.com/group/ros-sig-navigation mailing list. diff --git a/src/navigation/amcl/CHANGELOG.rst b/src/navigation/amcl/CHANGELOG.rst new file mode 100644 index 0000000..ab4b140 --- /dev/null +++ b/src/navigation/amcl/CHANGELOG.rst @@ -0,0 +1,242 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package amcl +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Update pf.c (`#1161 `_) + `#1160 `_ AMCL miscalculates orientation covariance for clusters +* Improved Overall readablity (`#1177 `_) +* fix crashes in AMCL (`#1152 `_) + * fix: catch runtime_error from roscore + * ignore malformed message from laser, otherwise it will crash +* Fixes `#1117 `_ (`#1118 `_) +* Fixed the risk of divide by zero. (`#1099 `_) +* (AMCL) add missing test dep on tf2_py (`#1091 `_) +* (AMCL)(Noetic) use robot pose in tests (`#1087 `_) +* (amcl) fix missing '#if NEW_UNIFORM_SAMPLING' (`#1079 `_) +* Contributors: David V. Lu!!, Matthijs van der Burgh, Noriaki Ando, Supernovae, christofschroeter, easylyou + +1.17.1 (2020-08-27) +------------------- +* (AMCL) add resample limit cache [Noetic] (`#1014 `_) +* Contributors: Matthijs van der Burgh + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* map is not subscriptable in python3 +* fix python3 errors in basic_localization.py +* use upstream pykdl +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Implement selective resampling (`#921 `_) (`#971 `_) + Co-authored-by: Adi Vardi +* Add CLI option to trigger global localization before processing a bagfile (`#816 `_) (`#970 `_) + Co-authored-by: alain-m +* Fix some reconfigure parameters not being applied [amcl]. (`#952 `_) +* amcl: include missing CMake functions to fix build (`#946 `_) +* Set proper limits for the z-weights [amcl]. (`#953 `_) +* Merge pull request `#965 `_ from nlimpert/nlimpert/fix_missing_cmake_include + Add missing CMake include(CheckSymbolExists) for CMake >= 3.15 +* amcl: add missing CMake include(CheckSymbolExists) + Starting with CMake 3.15 an explicit include(CheckSymbolExists) + is required to use the check_symbol_exists macro. +* Contributors: Ben Wolsieffer, Michael Ferguson, Nicolas Limpert, Patrick Chin + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Fix typo in amcl_laser model header (`#918 `_) +* Merge pull request `#849 `_ from seanyen/amcl_windows_fix + [Windows][melodic] AMCL Windows build bring up. +* revert unrelated changes. +* AMCL windows build bring up. + * Add HAVE_UNISTD and HAVE_DRAND48 and portable_utils.hpp for better cross compiling. + * Variable length array is not supported in MSVC, conditionally disable it. + * Fix install location for shared lib and executables on Windows. + * Use isfinite for better cross compiling. +* feat: AMCL Diagnostics (`#807 `_) + Diagnostic task that monitors the estimated standard deviation of the filter. + By: reinzor +* fix typo for parameter beam_skip_error_threshold but bandaged for other users in AMCL (`#790 `_) + * fix typo but bandage for other users +* Merge pull request `#785 `_ from mintar/amcl_c++11 + amcl: Add compile option C++11 +* amcl: Set C++ standard 11 if not set + This is required to build the melodic-devel branch of the navigation + stack on kinetic. Melodic sets CMAKE_CXX_STANDARD=14, but kinetic + doesn't set that variable at all. +* Contributors: Hadi Tabatabaee, Martin Günther, Michael Ferguson, Rein Appeldoorn, Sean Yen, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* update amcl to have proper depends + * add geometry_msgs + * add tf2_msgs + * fix alphabetical order +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- +* Merge pull request `#770 `_ from ros-planning/fix_debians + Fix debian builds (closes `#769 `_) +* make AMCL depend on sensor_msgs + previously, amcl depended on TF, which depended on + sensor_msgs. +* Contributors: Michael Ferguson + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Merge pull request `#734 `_ from ros-planning/melodic_731 + AMCL dynamic reconfigure: Extend parameter range (Forward port `#731 `_) +* Merge pull request `#728 `_ from ros-planning/melodic_tf2_conversion + switch AMCL to use TF2 +* fix swapped odom1/4 in omni model, fixes `#499 `_ +* Merge pull request `#730 `_ from Glowcloud/melodic-devel + Fix for Potential Memory Leak in AmclNode::reconfigureCB `#729 `_ +* Fix for Potential Memory Leak in AmclNode::reconfigureCB +* switch AMCL to use TF2 +* Merge pull request `#727 `_ from ros-planning/melodic_668 + Update laser_model_type enum on AMCL.cfg (Melodic port of `#668 `_) +* Update laser_model_type enum on AMCL.cfg + Adding likelihood_field_prob laser model option on AMCL.cfg to be able to control dynamic parameters with this laser sensor model. +* Merge pull request `#723 `_ from moriarty/melodic-buildfarm-errors + Melodic buildfarm errors +* include for std::shared_ptr +* Merge pull request `#718 `_ from moriarty/tf2-buffer-ptr + [melodic] tf2_buffer\_ -> tf2_buffer_ptr\_ +* [melodic] tf2_buffer\_ -> tf2_buffer_ptr\_ + Change required due to changes in upstream dependencies: + `ros/geometry#163 `_: "Maintain & expose tf2 Buffer in shared_ptr for tf" + fixes `ros-planning/navigation#717 `_ (for compile errors at least.) +* Contributors: Alexander Moriarty, Glowcloud, Martin Ganeff, Michael Ferguson, Miguel Cordero, Vincent Rabaud, maracuya-robotics + +1.15.2 (2018-03-22) +------------------- +* Fix minor typo (`#682 `_) + This typo caused some confusion because we were searching for a semicolon in our configuration. +* Merge pull request `#677 `_ from ros-planning/lunar_634 + removing recomputation of cluster stats causing assertion error (`#634 `_) +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Remove Dead Code [Lunar] (`#646 `_) + * Clean up navfn + * Cleanup amcl +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson, stevemacenski + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* Reference Issue `#592 `_ Added warning to AMCL when map is published on ... (`#604 `_) +* rebase fixups +* convert packages to format2 +* recompute cluster stat when force_publication +* Fix CMakeLists + package.xmls (`#548 `_) +* amcl: fix compilation with gcc v7 +* Added deps to amcl costmap_2d move_base (`#512 `_) +* fix order of parameters (closes `#553 `_) +* Fix potential string overflow and resource leak +* Contributors: Dmitry Rozhkov, Laurent GEORGE, Martin Günther, Michael Ferguson, Mikael Arguedas, Peter Harliman Liem, mryellow, vik748 + +1.14.0 (2016-05-20) +------------------- +* Allow AMCL to run from bag file to allow very fast testing. +* Fixes interpretation of a delayed initialpose message (see `#424 `_). + The tf lookup as it was before this change was very likely to fail as + ros::Time::now() was used to look up a tf without waiting on the tf's + availability. Additionally, the computation of the "new pose" by + multiplying the delta that the robot moved from the initialpose's + timestamp to ros::Time::now() was wrong. That delta has to by multiplied + from the right to the "old pose". + This commit also changes the reference frame to look up this delta to be + the odom frame as this one is supposed to be smooth and therefore the + best reference to get relative robot motion in the robot (base link) frame. +* New unit test for proper interpretation of a delayed initialpose message. + Modifies the set_pose.py script to be able to send an initial pose with + a user defined time stamp at a user defined time. Adds a rostest to + exercise this new option. + This reveals the issues mentioned in `#424 `_ (the new test fails). +* Contributors: Derek King, Stephan Wirth + +1.13.1 (2015-10-29) +------------------- +* adds the set_map service to amcl +* fix pthread_mutex_lock on shutdown +* Contributors: Michael Ferguson, Stephan Wirth + +1.13.0 (2015-03-17) +------------------- +* amcl_node will now save latest pose on shutdown +* Contributors: Ian Danforth + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Bug fix to remove particle weights being reset when motion model is updated +* Integrated new sensor model which calculates the observation likelihood in a probabilistic manner + Also includes the option to do beam-skipping (to better handle observations from dynamic obstacles) +* Pose pulled from parameter server when new map received +* Contributors: Steven Kordell, hes3pal + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* removes useless this->z_max = z_max assignment +* Fix warning string. +* Contributors: Jeremiah Via, enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Fix for `#160 `_ +* Download test data from download.ros.org instead of willow +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* amcl_pose and particle cloud are now published latched +* Fixed or commented out failing amcl tests. + diff --git a/src/navigation/amcl/CMakeLists.txt b/src/navigation/amcl/CMakeLists.txt new file mode 100644 index 0000000..c10a9a5 --- /dev/null +++ b/src/navigation/amcl/CMakeLists.txt @@ -0,0 +1,172 @@ +cmake_minimum_required(VERSION 3.1) +project(amcl) + +include(CheckIncludeFile) +include(CheckSymbolExists) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 11) +endif() + +find_package(catkin REQUIRED + COMPONENTS + diagnostic_updater + dynamic_reconfigure + geometry_msgs + message_filters + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_msgs + tf2_ros +) + +find_package(Boost REQUIRED) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/AMCL.cfg +) + +catkin_package( + CATKIN_DEPENDS + diagnostic_updater + dynamic_reconfigure + geometry_msgs + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_msgs + tf2_ros + INCLUDE_DIRS include + LIBRARIES amcl_sensors amcl_map amcl_pf +) + +include_directories(include) +include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) +include_directories(src/include) + +check_include_file(unistd.h HAVE_UNISTD_H) +if (HAVE_UNISTD_H) + add_definitions(-DHAVE_UNISTD_H) +endif (HAVE_UNISTD_H) + +check_symbol_exists(drand48 stdlib.h HAVE_DRAND48) +if (HAVE_DRAND48) + add_definitions(-DHAVE_DRAND48) +endif (HAVE_DRAND48) + +add_library(amcl_pf + src/amcl/pf/pf.c + src/amcl/pf/pf_kdtree.c + src/amcl/pf/pf_pdf.c + src/amcl/pf/pf_vector.c + src/amcl/pf/eig3.c + src/amcl/pf/pf_draw.c) + +add_library(amcl_map + src/amcl/map/map.c + src/amcl/map/map_cspace.cpp + src/amcl/map/map_range.c + src/amcl/map/map_store.c + src/amcl/map/map_draw.c) + +add_library(amcl_sensors + src/amcl/sensors/amcl_sensor.cpp + src/amcl/sensors/amcl_odom.cpp + src/amcl/sensors/amcl_laser.cpp) +target_link_libraries(amcl_sensors amcl_map amcl_pf) + + +add_executable(amcl + src/amcl_node.cpp) +add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(amcl + amcl_sensors amcl_map amcl_pf + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +install(TARGETS + amcl + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(TARGETS + amcl_sensors amcl_map amcl_pf + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(DIRECTORY include/amcl/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(DIRECTORY examples/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples +) + +## Configure Tests +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + + # Bags + catkin_download_test_data(${PROJECT_NAME}_basic_localization_stage_indexed.bag + http://download.ros.org/data/amcl/basic_localization_stage_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 41fe43af189ec71e5e48eb9ed661a655) + catkin_download_test_data(${PROJECT_NAME}_global_localization_stage_indexed.bag + http://download.ros.org/data/amcl/global_localization_stage_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 752f711cf4f6e8d1d660675e2da096b0) + catkin_download_test_data(${PROJECT_NAME}_small_loop_prf_indexed.bag + http://download.ros.org/data/amcl/small_loop_prf_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 e4ef0fc006872b43f12ed8a7ce7dcd81) + catkin_download_test_data(${PROJECT_NAME}_small_loop_crazy_driving_prg_indexed.bag + http://download.ros.org/data/amcl/small_loop_crazy_driving_prg_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 4a58d1a7962914009d99000d06e5939c) + catkin_download_test_data(${PROJECT_NAME}_texas_greenroom_loop_indexed.bag + http://download.ros.org/data/amcl/texas_greenroom_loop_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 6e3432115cccdca1247f6c807038e13d) + catkin_download_test_data(${PROJECT_NAME}_texas_willow_hallway_loop_indexed.bag + http://download.ros.org/data/amcl/texas_willow_hallway_loop_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 27deb742fdcd3af44cf446f39f2688a8) + catkin_download_test_data(${PROJECT_NAME}_rosie_localization_stage.bag + http://download.ros.org/data/amcl/rosie_localization_stage.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 3347bf3835724cfa45e958c5c1846066) + + # Maps + catkin_download_test_data(${PROJECT_NAME}_willow-full.pgm + http://download.ros.org/data/amcl/willow-full.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 b84465cdbbfe3e2fb9eb4579e0bcaf0e) + catkin_download_test_data(${PROJECT_NAME}_willow-full-0.05.pgm + http://download.ros.org/data/amcl/willow-full-0.05.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 b61694296e08965096c5e78611fd9765) + + # Tests + add_rostest(test/set_initial_pose.xml) + add_rostest(test/set_initial_pose_delayed.xml) + add_rostest(test/basic_localization_stage.xml) + add_rostest(test/global_localization_stage.xml) + add_rostest(test/small_loop_prf.xml) + add_rostest(test/small_loop_crazy_driving_prg.xml) + add_rostest(test/texas_greenroom_loop.xml) + add_rostest(test/rosie_multilaser.xml) + add_rostest(test/texas_willow_hallway_loop.xml) +endif() diff --git a/src/navigation/amcl/cfg/AMCL.cfg b/src/navigation/amcl/cfg/AMCL.cfg new file mode 100755 index 0000000..79e2524 --- /dev/null +++ b/src/navigation/amcl/cfg/AMCL.cfg @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +PACKAGE = 'amcl' + +from math import pi +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, str_t, bool_t + +gen = ParameterGenerator() + +gen.add("min_particles", int_t, 0, "Minimum allowed number of particles.", 100, 0, 1000) +gen.add("max_particles", int_t, 0, "Mamimum allowed number of particles.", 5000, 0, 10000) + +gen.add("kld_err", double_t, 0, "Maximum error between the true distribution and the estimated distribution.", .01, 0, 1) +gen.add("kld_z", double_t, 0, "Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distribution will be less than kld_err.", .99, 0, 1) + +gen.add("update_min_d", double_t, 0, "Translational movement required before performing a filter update.", .2, 0, 5) +gen.add("update_min_a", double_t, 0, "Rotational movement required before performing a filter update.", pi/6, 0, 2*pi) + +gen.add("resample_interval", int_t, 0, "Number of filter updates required before resampling.", 2, 0, 20) + +gen.add("transform_tolerance", double_t, 0, "Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.", .1, 0, 2) + +gen.add("recovery_alpha_slow", double_t, 0, "Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001.", 0, 0, .5) +gen.add("recovery_alpha_fast", double_t, 0, "Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.1.", 0, 0, 1) + +gen.add("do_beamskip", bool_t, 0, "When true skips laser scans when a scan doesnt work for a majority of particles", False) +gen.add("beam_skip_distance", double_t, 0, "Distance from a valid map point before scan is considered invalid", 0.5, 0, 2) +gen.add("beam_skip_threshold", double_t, 0, "Ratio of samples for which the scans are valid to consider as valid scan", 0.3, 0, 1) + +gen.add("tf_broadcast", bool_t, 0, "When true (the default), publish results via TF. When false, do not.", True) +gen.add("gui_publish_rate", double_t, 0, "Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable.", -1, -1, 100) +gen.add("save_pose_rate", double_t, 0, "Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter. -1.0 to disable.", .5, -1, 10) + +gen.add("use_map_topic", bool_t, 0, "When set to true, AMCL will subscribe to the map topic rather than making a service call to receive its map.", False) +gen.add("first_map_only", bool_t, 0, "When set to true, AMCL will only use the first map it subscribes to, rather than updating each time a new one is received.", False) + +# Laser Model Parameters +gen.add("laser_min_range", double_t, 0, "Minimum scan range to be considered; -1.0 will cause the laser's reported minimum range to be used.", -1, -1, 1000) +gen.add("laser_max_range", double_t, 0, "Maximum scan range to be considered; -1.0 will cause the laser's reported maximum range to be used.", -1, -1, 1000) + +gen.add("laser_max_beams", int_t, 0, "How many evenly-spaced beams in each scan to be used when updating the filter.", 30, 0, 250) + +gen.add("laser_z_hit", double_t, 0, "Mixture weight for the z_hit part of the model.", .95, 0, 1) +gen.add("laser_z_short", double_t, 0, "Mixture weight for the z_short part of the model.", .1, 0, 1) +gen.add("laser_z_max", double_t, 0, "Mixture weight for the z_max part of the model.", .05, 0, 1) +gen.add("laser_z_rand", double_t, 0, "Mixture weight for the z_rand part of the model.", .05, 0, 1) + +gen.add("laser_sigma_hit", double_t, 0, "Standard deviation for Gaussian model used in z_hit part of the model.", .2, 0, 10) +gen.add("laser_lambda_short", double_t, 0, "Exponential decay parameter for z_short part of model.", .1, 0, 10) +gen.add("laser_likelihood_max_dist", double_t, 0, "Maximum distance to do obstacle inflation on map, for use in likelihood_field model.", 2, 0, 20) + +lmt = gen.enum([gen.const("beam_const", str_t, "beam", "Use beam laser model"), gen.const("likelihood_field_const", str_t, "likelihood_field", "Use likelihood_field laser model"), gen.const("likelihood_field_prob", str_t, "likelihood_field_prob", "Use likelihood_field_prob laser model")], "Laser Models") +gen.add("laser_model_type", str_t, 0, "Which model to use, either beam, likelihood_field or likelihood_field_prob.", "likelihood_field", edit_method=lmt) + +# Odometry Model Parameters +odt = gen.enum([gen.const("diff_const", str_t, "diff", "Use diff odom model"), + gen.const("omni_const", str_t, "omni", "Use omni odom model"), + gen.const("diff_corrected_const", str_t, "diff-corrected", "Use corrected diff odom model"), + gen.const("omni_corrected_const", str_t, "omni-corrected", "Use corrected omni odom model")], + "Odom Models") +gen.add("odom_model_type", str_t, 0, "Which model to use, diff, omni, diff-corrected, or omni-corrected", "diff", edit_method=odt) + +gen.add("odom_alpha1", double_t, 0, "Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha2", double_t, 0, "Specifies the expected noise in odometry's rotation estimate from the translational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha3", double_t, 0, "Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha4", double_t, 0, "Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha5", double_t, 0, "Translation-related noise parameter (only used if model is omni).", .2, 0, 10) + +gen.add("odom_frame_id", str_t, 0, "Which frame to use for odometry.", "odom") +gen.add("base_frame_id", str_t, 0, "Which frame to use for the robot base.", "base_link") +gen.add("global_frame_id", str_t, 0, "The name of the coordinate frame published by the localization system.", "map") + +gen.add("restore_defaults", bool_t, 0, "Retsore the default configuration", False) + +exit(gen.generate(PACKAGE, "amcl_node", "AMCL")) diff --git a/src/navigation/amcl/examples/amcl_diff.launch b/src/navigation/amcl/examples/amcl_diff.launch new file mode 100644 index 0000000..6e23ebd --- /dev/null +++ b/src/navigation/amcl/examples/amcl_diff.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/examples/amcl_omni.launch b/src/navigation/amcl/examples/amcl_omni.launch new file mode 100644 index 0000000..a9137b2 --- /dev/null +++ b/src/navigation/amcl/examples/amcl_omni.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/include/amcl/map/map.h b/src/navigation/amcl/include/amcl/map/map.h new file mode 100644 index 0000000..17aabf9 --- /dev/null +++ b/src/navigation/amcl/include/amcl/map/map.h @@ -0,0 +1,150 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map (grid-based) + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map.h 1713 2003-08-23 04:03:43Z inspectorg $ + **************************************************************************/ + +#ifndef MAP_H +#define MAP_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +// Forward declarations +struct _rtk_fig_t; + + +// Limits +#define MAP_WIFI_MAX_LEVELS 8 + + +// Description for a single map cell. +typedef struct +{ + // Occupancy state (-1 = free, 0 = unknown, +1 = occ) + int occ_state; + + // Distance to the nearest occupied cell + double occ_dist; + + // Wifi levels + //int wifi_levels[MAP_WIFI_MAX_LEVELS]; + +} map_cell_t; + + +// Description for a map +typedef struct +{ + // Map origin; the map is a viewport onto a conceptual larger map. + double origin_x, origin_y; + + // Map scale (m/cell) + double scale; + + // Map dimensions (number of cells) + int size_x, size_y; + + // The map data, stored as a grid + map_cell_t *cells; + + // Max distance at which we care about obstacles, for constructing + // likelihood field + double max_occ_dist; + +} map_t; + + + +/************************************************************************** + * Basic map functions + **************************************************************************/ + +// Create a new (empty) map +map_t *map_alloc(void); + +// Destroy a map +void map_free(map_t *map); + +// Get the cell at the given point +map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa); + +// Load an occupancy map +int map_load_occ(map_t *map, const char *filename, double scale, int negate); + +// Load a wifi signal strength map +//int map_load_wifi(map_t *map, const char *filename, int index); + +// Update the cspace distances +void map_update_cspace(map_t *map, double max_occ_dist); + + +/************************************************************************** + * Range functions + **************************************************************************/ + +// Extract a single range reading from the map +double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range); + + +/************************************************************************** + * GUI/diagnostic functions + **************************************************************************/ + +// Draw the occupancy grid +void map_draw_occ(map_t *map, struct _rtk_fig_t *fig); + +// Draw the cspace map +void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig); + +// Draw a wifi map +void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index); + + +/************************************************************************** + * Map manipulation macros + **************************************************************************/ + +// Convert from map index to world coords +#define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale) +#define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale) + +// Convert from world coords to map coords +#define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2) +#define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2) + +// Test to see if the given map coords lie within the absolute map bounds. +#define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y)) + +// Compute the cell index for the given map coords. +#define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/src/navigation/amcl/include/amcl/pf/eig3.h b/src/navigation/amcl/include/amcl/pf/eig3.h new file mode 100644 index 0000000..b708cb1 --- /dev/null +++ b/src/navigation/amcl/include/amcl/pf/eig3.h @@ -0,0 +1,11 @@ + +/* Eigen-decomposition for symmetric 3x3 real matrices. + Public domain, copied from the public domain Java library JAMA. */ + +#ifndef _eig_h + +/* Symmetric matrix A => eigenvectors in columns of V, corresponding + eigenvalues in d. */ +void eigen_decomposition(double A[3][3], double V[3][3], double d[3]); + +#endif diff --git a/src/navigation/amcl/include/amcl/pf/pf.h b/src/navigation/amcl/include/amcl/pf/pf.h new file mode 100644 index 0000000..ba778d1 --- /dev/null +++ b/src/navigation/amcl/include/amcl/pf/pf.h @@ -0,0 +1,210 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Simple particle filter for localization. + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf.h 3293 2005-11-19 08:37:45Z gerkey $ + *************************************************************************/ + +#ifndef PF_H +#define PF_H + +#include "pf_vector.h" +#include "pf_kdtree.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// Forward declarations +struct _pf_t; +struct _rtk_fig_t; +struct _pf_sample_set_t; + +// Function prototype for the initialization model; generates a sample pose from +// an appropriate distribution. +typedef pf_vector_t (*pf_init_model_fn_t) (void *init_data); + +// Function prototype for the action model; generates a sample pose from +// an appropriate distribution +typedef void (*pf_action_model_fn_t) (void *action_data, + struct _pf_sample_set_t* set); + +// Function prototype for the sensor model; determines the probability +// for the given set of sample poses. +typedef double (*pf_sensor_model_fn_t) (void *sensor_data, + struct _pf_sample_set_t* set); + + +// Information for a single sample +typedef struct +{ + // Pose represented by this sample + pf_vector_t pose; + + // Weight for this pose + double weight; + +} pf_sample_t; + + +// Information for a cluster of samples +typedef struct +{ + // Number of samples + int count; + + // Total weight of samples in this cluster + double weight; + + // Cluster statistics + pf_vector_t mean; + pf_matrix_t cov; + + // Workspace + double m[4], c[2][2]; + +} pf_cluster_t; + + +// Information for a set of samples +typedef struct _pf_sample_set_t +{ + // The samples + int sample_count; + pf_sample_t *samples; + + // A kdtree encoding the histogram + pf_kdtree_t *kdtree; + + // Clusters + int cluster_count, cluster_max_count; + pf_cluster_t *clusters; + + // Filter statistics + pf_vector_t mean; + pf_matrix_t cov; + int converged; + double n_effective; +} pf_sample_set_t; + + +// Information for an entire filter +typedef struct _pf_t +{ + // This min and max number of samples + int min_samples, max_samples; + + // Population size parameters + double pop_err, pop_z; + + // Resample limit cache + int *limit_cache; + + // The sample sets. We keep two sets and use [current_set] + // to identify the active set. + int current_set; + pf_sample_set_t sets[2]; + + // Running averages, slow and fast, of likelihood + double w_slow, w_fast; + + // Decay rates for running averages + double alpha_slow, alpha_fast; + + // Function used to draw random pose samples + pf_init_model_fn_t random_pose_fn; + void *random_pose_data; + + double dist_threshold; //distance threshold in each axis over which the pf is considered to not be converged + int converged; + + // boolean parameter to enamble/diable selective resampling + int selective_resampling; +} pf_t; + + +// Create a new filter +pf_t *pf_alloc(int min_samples, int max_samples, + double alpha_slow, double alpha_fast, + pf_init_model_fn_t random_pose_fn, void *random_pose_data); + +// Free an existing filter +void pf_free(pf_t *pf); + +// Initialize the filter using a guassian +void pf_init(pf_t *pf, pf_vector_t mean, pf_matrix_t cov); + +// Initialize the filter using some model +void pf_init_model(pf_t *pf, pf_init_model_fn_t init_fn, void *init_data); + +// Update the filter with some new action +void pf_update_action(pf_t *pf, pf_action_model_fn_t action_fn, void *action_data); + +// Update the filter with some new sensor observation +void pf_update_sensor(pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data); + +// Resample the distribution +void pf_update_resample(pf_t *pf); + +// set selective resampling parameter +void pf_set_selective_resampling(pf_t *pf, int selective_resampling); + +// Compute the CEP statistics (mean and variance). +void pf_get_cep_stats(pf_t *pf, pf_vector_t *mean, double *var); + +// Compute the statistics for a particular cluster. Returns 0 if +// there is no such cluster. +int pf_get_cluster_stats(pf_t *pf, int cluster, double *weight, + pf_vector_t *mean, pf_matrix_t *cov); + +// Re-compute the cluster statistics for a sample set +void pf_cluster_stats(pf_t *pf, pf_sample_set_t *set); + + +// Display the sample set +void pf_draw_samples(pf_t *pf, struct _rtk_fig_t *fig, int max_samples); + +// Draw the histogram (kdtree) +void pf_draw_hist(pf_t *pf, struct _rtk_fig_t *fig); + +// Draw the CEP statistics +void pf_draw_cep_stats(pf_t *pf, struct _rtk_fig_t *fig); + +// Draw the cluster statistics +void pf_draw_cluster_stats(pf_t *pf, struct _rtk_fig_t *fig); + +//calculate if the particle filter has converged - +//and sets the converged flag in the current set and the pf +int pf_update_converged(pf_t *pf); + +//sets the current set and pf converged values to zero +void pf_init_converged(pf_t *pf); + +void pf_copy_set(pf_sample_set_t* set_a, pf_sample_set_t* set_b); + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/src/navigation/amcl/include/amcl/pf/pf_kdtree.h b/src/navigation/amcl/include/amcl/pf/pf_kdtree.h new file mode 100644 index 0000000..2368fa3 --- /dev/null +++ b/src/navigation/amcl/include/amcl/pf/pf_kdtree.h @@ -0,0 +1,109 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: KD tree functions + * Author: Andrew Howard + * Date: 18 Dec 2002 + * CVS: $Id: pf_kdtree.h 6532 2008-06-11 02:45:56Z gbiggs $ + *************************************************************************/ + +#ifndef PF_KDTREE_H +#define PF_KDTREE_H + +#ifdef INCLUDE_RTKGUI +#include "rtk.h" +#endif + + +// Info for a node in the tree +typedef struct pf_kdtree_node +{ + // Depth in the tree + int leaf, depth; + + // Pivot dimension and value + int pivot_dim; + double pivot_value; + + // The key for this node + int key[3]; + + // The value for this node + double value; + + // The cluster label (leaf nodes) + int cluster; + + // Child nodes + struct pf_kdtree_node *children[2]; + +} pf_kdtree_node_t; + + +// A kd tree +typedef struct +{ + // Cell size + double size[3]; + + // The root node of the tree + pf_kdtree_node_t *root; + + // The number of nodes in the tree + int node_count, node_max_count; + pf_kdtree_node_t *nodes; + + // The number of leaf nodes in the tree + int leaf_count; + +} pf_kdtree_t; + + +// Create a tree +extern pf_kdtree_t *pf_kdtree_alloc(int max_size); + +// Destroy a tree +extern void pf_kdtree_free(pf_kdtree_t *self); + +// Clear all entries from the tree +extern void pf_kdtree_clear(pf_kdtree_t *self); + +// Insert a pose into the tree +extern void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value); + +// Cluster the leaves in the tree +extern void pf_kdtree_cluster(pf_kdtree_t *self); + +// Determine the probability estimate for the given pose +extern double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose); + +// Determine the cluster label for the given pose +extern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose); + + +#ifdef INCLUDE_RTKGUI + +// Draw the tree +extern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig); + +#endif + +#endif diff --git a/src/navigation/amcl/include/amcl/pf/pf_pdf.h b/src/navigation/amcl/include/amcl/pf/pf_pdf.h new file mode 100644 index 0000000..2f2ad87 --- /dev/null +++ b/src/navigation/amcl/include/amcl/pf/pf_pdf.h @@ -0,0 +1,85 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Useful pdf functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_pdf.h 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#ifndef PF_PDF_H +#define PF_PDF_H + +#include "pf_vector.h" + +//#include +//#include + +#ifdef __cplusplus +extern "C" { +#endif + +/************************************************************************** + * Gaussian + *************************************************************************/ + +// Gaussian PDF info +typedef struct +{ + // Mean, covariance and inverse covariance + pf_vector_t x; + pf_matrix_t cx; + //pf_matrix_t cxi; + double cxdet; + + // Decomposed covariance matrix (rotation * diagonal) + pf_matrix_t cr; + pf_vector_t cd; + + // A random number generator + //gsl_rng *rng; + +} pf_pdf_gaussian_t; + + +// Create a gaussian pdf +pf_pdf_gaussian_t *pf_pdf_gaussian_alloc(pf_vector_t x, pf_matrix_t cx); + +// Destroy the pdf +void pf_pdf_gaussian_free(pf_pdf_gaussian_t *pdf); + +// Compute the value of the pdf at some point [z]. +//double pf_pdf_gaussian_value(pf_pdf_gaussian_t *pdf, pf_vector_t z); + +// Draw randomly from a zero-mean Gaussian distribution, with standard +// deviation sigma. +// We use the polar form of the Box-Muller transformation, explained here: +// http://www.taygeta.com/random/gaussian.html +double pf_ran_gaussian(double sigma); + +// Generate a sample from the pdf. +pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/src/navigation/amcl/include/amcl/pf/pf_vector.h b/src/navigation/amcl/include/amcl/pf/pf_vector.h new file mode 100644 index 0000000..6162ba3 --- /dev/null +++ b/src/navigation/amcl/include/amcl/pf/pf_vector.h @@ -0,0 +1,94 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Vector functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_vector.h 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#ifndef PF_VECTOR_H +#define PF_VECTOR_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +// The basic vector +typedef struct +{ + double v[3]; +} pf_vector_t; + + +// The basic matrix +typedef struct +{ + double m[3][3]; +} pf_matrix_t; + + +// Return a zero vector +pf_vector_t pf_vector_zero(); + +// Check for NAN or INF in any component +int pf_vector_finite(pf_vector_t a); + +// Print a vector +void pf_vector_fprintf(pf_vector_t s, FILE *file, const char *fmt); + +// Simple vector addition +pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b); + +// Simple vector subtraction +pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b); + +// Transform from local to global coords (a + b) +pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b); + +// Transform from global to local coords (a - b) +pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b); + + +// Return a zero matrix +pf_matrix_t pf_matrix_zero(); + +// Check for NAN or INF in any component +int pf_matrix_finite(pf_matrix_t a); + +// Print a matrix +void pf_matrix_fprintf(pf_matrix_t s, FILE *file, const char *fmt); + +// Compute the matrix inverse. Will also return the determinant, +// which should be checked for underflow (indicated singular matrix). +//pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det); + +// Decompose a covariance matrix [a] into a rotation matrix [r] and a +// diagonal matrix [d] such that a = r * d * r^T. +void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/src/navigation/amcl/include/amcl/sensors/amcl_laser.h b/src/navigation/amcl/include/amcl/sensors/amcl_laser.h new file mode 100644 index 0000000..391c921 --- /dev/null +++ b/src/navigation/amcl/include/amcl/sensors/amcl_laser.h @@ -0,0 +1,156 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: LASER sensor model for AMCL +// Author: Andrew Howard +// Date: 17 Aug 2003 +// CVS: $Id: amcl_laser.h 6443 2008-05-15 19:46:11Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_LASER_H +#define AMCL_LASER_H + +#include "amcl_sensor.h" +#include "../map/map.h" + +namespace amcl +{ + +typedef enum +{ + LASER_MODEL_BEAM, + LASER_MODEL_LIKELIHOOD_FIELD, + LASER_MODEL_LIKELIHOOD_FIELD_PROB +} laser_model_t; + +// Laser sensor data +class AMCLLaserData : public AMCLSensorData +{ + public: + AMCLLaserData () {ranges=NULL;}; + virtual ~AMCLLaserData() {delete [] ranges;}; + // Laser range data (range, bearing tuples) + public: int range_count; + public: double range_max; + public: double (*ranges)[2]; +}; + + +// Laseretric sensor model +class AMCLLaser : public AMCLSensor +{ + // Default constructor + public: AMCLLaser(size_t max_beams, map_t* map); + + public: virtual ~AMCLLaser(); + + public: void SetModelBeam(double z_hit, + double z_short, + double z_max, + double z_rand, + double sigma_hit, + double lambda_short, + double chi_outlier); + + public: void SetModelLikelihoodField(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist); + + //a more probabilistically correct model - also with the option to do beam skipping + public: void SetModelLikelihoodFieldProb(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist, + bool do_beamskip, + double beam_skip_distance, + double beam_skip_threshold, + double beam_skip_error_threshold); + + // Update the filter based on the sensor model. Returns true if the + // filter has been updated. + public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data); + + // Set the laser's pose after construction + public: void SetLaserPose(pf_vector_t& laser_pose) + {this->laser_pose = laser_pose;} + + // Determine the probability for the given pose + private: static double BeamModel(AMCLLaserData *data, + pf_sample_set_t* set); + // Determine the probability for the given pose + private: static double LikelihoodFieldModel(AMCLLaserData *data, + pf_sample_set_t* set); + + // Determine the probability for the given pose - more probablistic model + private: static double LikelihoodFieldModelProb(AMCLLaserData *data, + pf_sample_set_t* set); + + private: void reallocTempData(int max_samples, int max_obs); + + private: laser_model_t model_type; + + // Current data timestamp + private: double time; + + // The laser map + private: map_t *map; + + // Laser offset relative to robot + private: pf_vector_t laser_pose; + + // Max beams to consider + private: int max_beams; + + // Beam skipping parameters (used by LikelihoodFieldModelProb model) + private: bool do_beamskip; + private: double beam_skip_distance; + private: double beam_skip_threshold; + //threshold for the ratio of invalid beams - at which all beams are integrated to the likelihoods + //this would be an error condition + private: double beam_skip_error_threshold; + + //temp data that is kept before observations are integrated to each particle (requried for beam skipping) + private: int max_samples; + private: int max_obs; + private: double **temp_obs; + + // Laser model params + // + // Mixture params for the components of the model; must sum to 1 + private: double z_hit; + private: double z_short; + private: double z_max; + private: double z_rand; + // + // Stddev of Gaussian model for laser hits. + private: double sigma_hit; + // Decay rate of exponential model for short readings. + private: double lambda_short; + // Threshold for outlier rejection (unused) + private: double chi_outlier; +}; + + +} + +#endif diff --git a/src/navigation/amcl/include/amcl/sensors/amcl_odom.h b/src/navigation/amcl/include/amcl/sensors/amcl_odom.h new file mode 100644 index 0000000..d50244a --- /dev/null +++ b/src/navigation/amcl/include/amcl/sensors/amcl_odom.h @@ -0,0 +1,98 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Odometry sensor model for AMCL +// Author: Andrew Howard +// Date: 17 Aug 2003 +// CVS: $Id: amcl_odom.h 4135 2007-08-23 19:58:48Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_ODOM_H +#define AMCL_ODOM_H + +#include "amcl_sensor.h" +#include "../pf/pf_pdf.h" + +namespace amcl +{ + +typedef enum +{ + ODOM_MODEL_DIFF, + ODOM_MODEL_OMNI, + ODOM_MODEL_DIFF_CORRECTED, + ODOM_MODEL_OMNI_CORRECTED +} odom_model_t; + +// Odometric sensor data +class AMCLOdomData : public AMCLSensorData +{ + // Odometric pose + public: pf_vector_t pose; + + // Change in odometric pose + public: pf_vector_t delta; +}; + + +// Odometric sensor model +class AMCLOdom : public AMCLSensor +{ + // Default constructor + public: AMCLOdom(); + + public: void SetModelDiff(double alpha1, + double alpha2, + double alpha3, + double alpha4); + + public: void SetModelOmni(double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5); + + public: void SetModel( odom_model_t type, + double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5 = 0 ); + + // Update the filter based on the action model. Returns true if the filter + // has been updated. + public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); + + // Current data timestamp + private: double time; + + // Model type + private: odom_model_t model_type; + + // Drift parameters + private: double alpha1, alpha2, alpha3, alpha4, alpha5; +}; + + +} + +#endif diff --git a/src/navigation/amcl/include/amcl/sensors/amcl_sensor.h b/src/navigation/amcl/include/amcl/sensors/amcl_sensor.h new file mode 100644 index 0000000..fe0875a --- /dev/null +++ b/src/navigation/amcl/include/amcl/sensors/amcl_sensor.h @@ -0,0 +1,97 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Adaptive Monte-Carlo localization +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_sensor.h 6443 2008-05-15 19:46:11Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_SENSOR_H +#define AMCL_SENSOR_H + +#include "../pf/pf.h" + +namespace amcl +{ + +// Forward declarations +class AMCLSensorData; + + +// Base class for all AMCL sensors +class AMCLSensor +{ + // Default constructor + public: AMCLSensor(); + + // Default destructor + public: virtual ~AMCLSensor(); + + // Update the filter based on the action model. Returns true if the filter + // has been updated. + public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); + + // Initialize the filter based on the sensor model. Returns true if the + // filter has been initialized. + public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data); + + // Update the filter based on the sensor model. Returns true if the + // filter has been updated. + public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data); + + // Flag is true if this is the action sensor + public: bool is_action; + + // Action pose (action sensors only) + public: pf_vector_t pose; + + // AMCL Base + //protected: AdaptiveMCL & AMCL; + +#ifdef INCLUDE_RTKGUI + // Setup the GUI + public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); + + // Finalize the GUI + public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); + + // Draw sensor data + public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data); +#endif +}; + + + +// Base class for all AMCL sensor measurements +class AMCLSensorData +{ + // Pointer to sensor that generated the data + public: AMCLSensor *sensor; + virtual ~AMCLSensorData() {} + + // Data timestamp + public: double time; +}; + +} + +#endif diff --git a/src/navigation/amcl/package.xml b/src/navigation/amcl/package.xml new file mode 100644 index 0000000..0c587b0 --- /dev/null +++ b/src/navigation/amcl/package.xml @@ -0,0 +1,47 @@ + + + + amcl + 1.17.2 + +

+ amcl is a probabilistic localization system for a robot moving in + 2D. It implements the adaptive (or KLD-sampling) Monte Carlo + localization approach (as described by Dieter Fox), which uses a + particle filter to track the pose of a robot against a known map. +

+

+ This node is derived, with thanks, from Andrew Howard's excellent + 'amcl' Player driver. +

+
+ http://wiki.ros.org/amcl + Brian P. Gerkey + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + LGPL + + catkin + + message_filters + tf2_geometry_msgs + + diagnostic_updater + dynamic_reconfigure + geometry_msgs + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_msgs + tf2_ros + + map_server + rostest + python3-pykdl + tf2_py +
diff --git a/src/navigation/amcl/src/amcl/map/map.c b/src/navigation/amcl/src/amcl/map/map.c new file mode 100644 index 0000000..23c9662 --- /dev/null +++ b/src/navigation/amcl/src/amcl/map/map.c @@ -0,0 +1,84 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map (grid-based) + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map.c 1713 2003-08-23 04:03:43Z inspectorg $ +**************************************************************************/ + +#include +#include +#include +#include +#include + +#include "amcl/map/map.h" + + +// Create a new map +map_t *map_alloc(void) +{ + map_t *map; + + map = (map_t*) malloc(sizeof(map_t)); + + // Assume we start at (0, 0) + map->origin_x = 0; + map->origin_y = 0; + + // Make the size odd + map->size_x = 0; + map->size_y = 0; + map->scale = 0; + + // Allocate storage for main map + map->cells = (map_cell_t*) NULL; + + return map; +} + + +// Destroy a map +void map_free(map_t *map) +{ + free(map->cells); + free(map); + return; +} + + +// Get the cell at the given point +map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa) +{ + int i, j; + map_cell_t *cell; + + i = MAP_GXWX(map, ox); + j = MAP_GYWY(map, oy); + + if (!MAP_VALID(map, i, j)) + return NULL; + + cell = map->cells + MAP_INDEX(map, i, j); + return cell; +} + diff --git a/src/navigation/amcl/src/amcl/map/map_cspace.cpp b/src/navigation/amcl/src/amcl/map/map_cspace.cpp new file mode 100644 index 0000000..3eafd9d --- /dev/null +++ b/src/navigation/amcl/src/amcl/map/map_cspace.cpp @@ -0,0 +1,176 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include +#include +#include +#include +#include "amcl/map/map.h" + +class CellData +{ + public: + map_t* map_; + unsigned int i_, j_; + unsigned int src_i_, src_j_; +}; + +class CachedDistanceMap +{ + public: + CachedDistanceMap(double scale, double max_dist) : + distances_(NULL), scale_(scale), max_dist_(max_dist) + { + cell_radius_ = max_dist / scale; + distances_ = new double *[cell_radius_+2]; + for(int i=0; i<=cell_radius_+1; i++) + { + distances_[i] = new double[cell_radius_+2]; + for(int j=0; j<=cell_radius_+1; j++) + { + distances_[i][j] = sqrt(i*i + j*j); + } + } + } + ~CachedDistanceMap() + { + if(distances_) + { + for(int i=0; i<=cell_radius_+1; i++) + delete[] distances_[i]; + delete[] distances_; + } + } + double** distances_; + double scale_; + double max_dist_; + int cell_radius_; +}; + + +bool operator<(const CellData& a, const CellData& b) +{ + return a.map_->cells[MAP_INDEX(a.map_, a.i_, a.j_)].occ_dist > a.map_->cells[MAP_INDEX(b.map_, b.i_, b.j_)].occ_dist; +} + +CachedDistanceMap* +get_distance_map(double scale, double max_dist) +{ + static CachedDistanceMap* cdm = NULL; + + if(!cdm || (cdm->scale_ != scale) || (cdm->max_dist_ != max_dist)) + { + if(cdm) + delete cdm; + cdm = new CachedDistanceMap(scale, max_dist); + } + + return cdm; +} + +void enqueue(map_t* map, int i, int j, + int src_i, int src_j, + std::priority_queue& Q, + CachedDistanceMap* cdm, + unsigned char* marked) +{ + if(marked[MAP_INDEX(map, i, j)]) + return; + + int di = abs(i - src_i); + int dj = abs(j - src_j); + double distance = cdm->distances_[di][dj]; + + if(distance > cdm->cell_radius_) + return; + + map->cells[MAP_INDEX(map, i, j)].occ_dist = distance * map->scale; + + CellData cell; + cell.map_ = map; + cell.i_ = i; + cell.j_ = j; + cell.src_i_ = src_i; + cell.src_j_ = src_j; + + Q.push(cell); + + marked[MAP_INDEX(map, i, j)] = 1; +} + +// Update the cspace distance values +void map_update_cspace(map_t *map, double max_occ_dist) +{ + unsigned char* marked; + std::priority_queue Q; + + marked = new unsigned char[map->size_x*map->size_y]; + memset(marked, 0, sizeof(unsigned char) * map->size_x*map->size_y); + + map->max_occ_dist = max_occ_dist; + + CachedDistanceMap* cdm = get_distance_map(map->scale, map->max_occ_dist); + + // Enqueue all the obstacle cells + CellData cell; + cell.map_ = map; + for(int i=0; isize_x; i++) + { + cell.src_i_ = cell.i_ = i; + for(int j=0; jsize_y; j++) + { + if(map->cells[MAP_INDEX(map, i, j)].occ_state == +1) + { + map->cells[MAP_INDEX(map, i, j)].occ_dist = 0.0; + cell.src_j_ = cell.j_ = j; + marked[MAP_INDEX(map, i, j)] = 1; + Q.push(cell); + } + else + map->cells[MAP_INDEX(map, i, j)].occ_dist = max_occ_dist; + } + } + + while(!Q.empty()) + { + CellData current_cell = Q.top(); + if(current_cell.i_ > 0) + enqueue(map, current_cell.i_-1, current_cell.j_, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if(current_cell.j_ > 0) + enqueue(map, current_cell.i_, current_cell.j_-1, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if((int)current_cell.i_ < map->size_x - 1) + enqueue(map, current_cell.i_+1, current_cell.j_, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if((int)current_cell.j_ < map->size_y - 1) + enqueue(map, current_cell.i_, current_cell.j_+1, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + + Q.pop(); + } + + delete[] marked; +} diff --git a/src/navigation/amcl/src/amcl/map/map_draw.c b/src/navigation/amcl/src/amcl/map/map_draw.c new file mode 100644 index 0000000..b1201fd --- /dev/null +++ b/src/navigation/amcl/src/amcl/map/map_draw.c @@ -0,0 +1,158 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Local map GUI functions + * Author: Andrew Howard + * Date: 18 Jan 2003 + * CVS: $Id: map_draw.c 7057 2008-10-02 00:44:06Z gbiggs $ +**************************************************************************/ + +#ifdef INCLUDE_RTKGUI + +#include +#include +#include +#include + +#include +#include "amcl/map/map.h" + + +//////////////////////////////////////////////////////////////////////////// +// Draw the occupancy map +void map_draw_occ(map_t *map, rtk_fig_t *fig) +{ + int i, j; + int col; + map_cell_t *cell; + uint16_t *image; + uint16_t *pixel; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + + // Draw occupancy + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + pixel = image + (j * map->size_x + i); + + col = 127 - 127 * cell->occ_state; + *pixel = RTK_RGB16(col, col, col); + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, NULL); + + free(image); + + return; +} + + +//////////////////////////////////////////////////////////////////////////// +// Draw the cspace map +void map_draw_cspace(map_t *map, rtk_fig_t *fig) +{ + int i, j; + int col; + map_cell_t *cell; + uint16_t *image; + uint16_t *pixel; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + + // Draw occupancy + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + pixel = image + (j * map->size_x + i); + + col = 255 * cell->occ_dist / map->max_occ_dist; + + *pixel = RTK_RGB16(col, col, col); + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, NULL); + + free(image); + + return; +} + + +//////////////////////////////////////////////////////////////////////////// +// Draw a wifi map +void map_draw_wifi(map_t *map, rtk_fig_t *fig, int index) +{ + int i, j; + int level, col; + map_cell_t *cell; + uint16_t *image, *mask; + uint16_t *ipix, *mpix; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + mask = malloc(map->size_x * map->size_y * sizeof(mask[0])); + + // Draw wifi levels + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + ipix = image + (j * map->size_x + i); + mpix = mask + (j * map->size_x + i); + + level = cell->wifi_levels[index]; + + if (cell->occ_state == -1 && level != 0) + { + col = 255 * (100 + level) / 100; + *ipix = RTK_RGB16(col, col, col); + *mpix = 1; + } + else + { + *mpix = 0; + } + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, mask); + + free(mask); + free(image); + + return; +} + + +#endif diff --git a/src/navigation/amcl/src/amcl/map/map_range.c b/src/navigation/amcl/src/amcl/map/map_range.c new file mode 100644 index 0000000..658619f --- /dev/null +++ b/src/navigation/amcl/src/amcl/map/map_range.c @@ -0,0 +1,120 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Range routines + * Author: Andrew Howard + * Date: 18 Jan 2003 + * CVS: $Id: map_range.c 1347 2003-05-05 06:24:33Z inspectorg $ +**************************************************************************/ + +#include +#include +#include +#include + +#include "amcl/map/map.h" + +// Extract a single range reading from the map. Unknown cells and/or +// out-of-bound cells are treated as occupied, which makes it easy to +// use Stage bitmap files. +double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range) +{ + // Bresenham raytracing + int x0,x1,y0,y1; + int x,y; + int xstep, ystep; + char steep; + int tmp; + int deltax, deltay, error, deltaerr; + + x0 = MAP_GXWX(map,ox); + y0 = MAP_GYWY(map,oy); + + x1 = MAP_GXWX(map,ox + max_range * cos(oa)); + y1 = MAP_GYWY(map,oy + max_range * sin(oa)); + + if(abs(y1-y0) > abs(x1-x0)) + steep = 1; + else + steep = 0; + + if(steep) + { + tmp = x0; + x0 = y0; + y0 = tmp; + + tmp = x1; + x1 = y1; + y1 = tmp; + } + + deltax = abs(x1-x0); + deltay = abs(y1-y0); + error = 0; + deltaerr = deltay; + + x = x0; + y = y0; + + if(x0 < x1) + xstep = 1; + else + xstep = -1; + if(y0 < y1) + ystep = 1; + else + ystep = -1; + + if(steep) + { + if(!MAP_VALID(map,y,x) || map->cells[MAP_INDEX(map,y,x)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + else + { + if(!MAP_VALID(map,x,y) || map->cells[MAP_INDEX(map,x,y)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + + while(x != (x1 + xstep * 1)) + { + x += xstep; + error += deltaerr; + if(2*error >= deltax) + { + y += ystep; + error -= deltax; + } + + if(steep) + { + if(!MAP_VALID(map,y,x) || map->cells[MAP_INDEX(map,y,x)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + else + { + if(!MAP_VALID(map,x,y) || map->cells[MAP_INDEX(map,x,y)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + } + return max_range; +} diff --git a/src/navigation/amcl/src/amcl/map/map_store.c b/src/navigation/amcl/src/amcl/map/map_store.c new file mode 100644 index 0000000..b6d6ddb --- /dev/null +++ b/src/navigation/amcl/src/amcl/map/map_store.c @@ -0,0 +1,215 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map storage functions + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map_store.c 2951 2005-08-19 00:48:20Z gerkey $ +**************************************************************************/ + +#include +#include +#include +#include +#include + +#include "amcl/map/map.h" + + +//////////////////////////////////////////////////////////////////////////// +// Load an occupancy grid +int map_load_occ(map_t *map, const char *filename, double scale, int negate) +{ + FILE *file; + char magic[3]; + int i, j; + int ch, occ; + int width, height, depth; + map_cell_t *cell; + + // Open file + file = fopen(filename, "r"); + if (file == NULL) + { + fprintf(stderr, "%s: %s\n", strerror(errno), filename); + return -1; + } + + // Read ppm header + + if ((fscanf(file, "%2s \n", magic) != 1) || (strcmp(magic, "P5") != 0)) + { + fprintf(stderr, "incorrect image format; must be PGM/binary"); + fclose(file); + return -1; + } + + // Ignore comments + while ((ch = fgetc(file)) == '#') + while (fgetc(file) != '\n'); + ungetc(ch, file); + + // Read image dimensions + if(fscanf(file, " %d %d \n %d \n", &width, &height, &depth) != 3) + { + fprintf(stderr, "Failed ot read image dimensions"); + return -1; + } + + // Allocate space in the map + if (map->cells == NULL) + { + map->scale = scale; + map->size_x = width; + map->size_y = height; + map->cells = calloc(width * height, sizeof(map->cells[0])); + } + else + { + if (width != map->size_x || height != map->size_y) + { + //PLAYER_ERROR("map dimensions are inconsistent with prior map dimensions"); + return -1; + } + } + + // Read in the image + for (j = height - 1; j >= 0; j--) + { + for (i = 0; i < width; i++) + { + ch = fgetc(file); + + // Black-on-white images + if (!negate) + { + if (ch < depth / 4) + occ = +1; + else if (ch > 3 * depth / 4) + occ = -1; + else + occ = 0; + } + + // White-on-black images + else + { + if (ch < depth / 4) + occ = -1; + else if (ch > 3 * depth / 4) + occ = +1; + else + occ = 0; + } + + if (!MAP_VALID(map, i, j)) + continue; + cell = map->cells + MAP_INDEX(map, i, j); + cell->occ_state = occ; + } + } + + fclose(file); + + return 0; +} + + +//////////////////////////////////////////////////////////////////////////// +// Load a wifi signal strength map +/* +int map_load_wifi(map_t *map, const char *filename, int index) +{ + FILE *file; + char magic[3]; + int i, j; + int ch, level; + int width, height, depth; + map_cell_t *cell; + + // Open file + file = fopen(filename, "r"); + if (file == NULL) + { + fprintf(stderr, "%s: %s\n", strerror(errno), filename); + return -1; + } + + // Read ppm header + fscanf(file, "%10s \n", magic); + if (strcmp(magic, "P5") != 0) + { + fprintf(stderr, "incorrect image format; must be PGM/binary"); + return -1; + } + + // Ignore comments + while ((ch = fgetc(file)) == '#') + while (fgetc(file) != '\n'); + ungetc(ch, file); + + // Read image dimensions + fscanf(file, " %d %d \n %d \n", &width, &height, &depth); + + // Allocate space in the map + if (map->cells == NULL) + { + map->size_x = width; + map->size_y = height; + map->cells = calloc(width * height, sizeof(map->cells[0])); + } + else + { + if (width != map->size_x || height != map->size_y) + { + //PLAYER_ERROR("map dimensions are inconsistent with prior map dimensions"); + return -1; + } + } + + // Read in the image + for (j = height - 1; j >= 0; j--) + { + for (i = 0; i < width; i++) + { + ch = fgetc(file); + + if (!MAP_VALID(map, i, j)) + continue; + + if (ch == 0) + level = 0; + else + level = ch * 100 / 255 - 100; + + cell = map->cells + MAP_INDEX(map, i, j); + cell->wifi_levels[index] = level; + } + } + + fclose(file); + + return 0; +} +*/ + + + diff --git a/src/navigation/amcl/src/amcl/pf/eig3.c b/src/navigation/amcl/src/amcl/pf/eig3.c new file mode 100644 index 0000000..3e8aee6 --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/eig3.c @@ -0,0 +1,274 @@ + +/* Eigen decomposition code for symmetric 3x3 matrices, copied from the public + domain Java Matrix library JAMA. */ + +#include + +#ifndef MAX +#define MAX(a, b) ((a)>(b)?(a):(b)) +#endif + +#ifdef _MSC_VER +#define n 3 +#else +static int n = 3; +#endif + +static double hypot2(double x, double y) { + return sqrt(x*x+y*y); +} + +// Symmetric Householder reduction to tridiagonal form. + +static void tred2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tred2 by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,k; + double f,g,h,hh; + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + double scale = 0.0; + double h = 0.0; + for (k = 0; k < i; k++) { + scale = scale + fabs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + f = d[i-1]; + g = sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + hh = f / (h + h); + for (j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + h = d[i+1]; + if (h != 0.0) { + for (k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (j = 0; j <= i; j++) { + g = 0.0; + for (k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; +} + +// Symmetric tridiagonal QL algorithm. + +static void tql2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tql2, by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,m,l,k; + double g,p,r,dl1,h,f,tst1,eps; + double c,c2,c3,el1,s,s2; + + for (i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + f = 0.0; + tst1 = 0.0; + eps = pow(2.0,-52.0); + for (l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = MAX(tst1,fabs(d[l]) + fabs(e[l])); + m = l; + while (m < n) { + if (fabs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + g = d[l]; + p = (d[l+1] - g) / (2.0 * e[l]); + r = hypot2(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + dl1 = d[l+1]; + h = g - d[l]; + for (i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + c = 1.0; + c2 = c; + c3 = c; + el1 = e[l+1]; + s = 0.0; + s2 = 0.0; + for (i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = hypot2(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (fabs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (i = 0; i < n-1; i++) { + k = i; + p = d[i]; + for (j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } +} + +void eigen_decomposition(double A[n][n], double V[n][n], double d[n]) { + int i,j; + double e[n]; + for (i = 0; i < n; i++) { + for (j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + tred2(V, d, e); + tql2(V, d, e); +} diff --git a/src/navigation/amcl/src/amcl/pf/pf.c b/src/navigation/amcl/src/amcl/pf/pf.c new file mode 100644 index 0000000..2e0b44b --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/pf.c @@ -0,0 +1,763 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Simple particle filter for localization. + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf.c 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#include +#include +#include +#include + +#include "amcl/pf/pf.h" +#include "amcl/pf/pf_pdf.h" +#include "amcl/pf/pf_kdtree.h" +#include "portable_utils.hpp" + + +// Compute the required number of samples, given that there are k bins +// with samples in them. +static int pf_resample_limit(pf_t *pf, int k); + + + +// Create a new filter +pf_t *pf_alloc(int min_samples, int max_samples, + double alpha_slow, double alpha_fast, + pf_init_model_fn_t random_pose_fn, void *random_pose_data) +{ + int i, j; + pf_t *pf; + pf_sample_set_t *set; + pf_sample_t *sample; + + srand48(time(NULL)); + + pf = calloc(1, sizeof(pf_t)); + + pf->random_pose_fn = random_pose_fn; + pf->random_pose_data = random_pose_data; + + pf->min_samples = min_samples; + pf->max_samples = max_samples; + + // Control parameters for the population size calculation. [err] is + // the max error between the true distribution and the estimated + // distribution. [z] is the upper standard normal quantile for (1 - + // p), where p is the probability that the error on the estimated + // distrubition will be less than [err]. + pf->pop_err = 0.01; + pf->pop_z = 3; + pf->dist_threshold = 0.5; + + // Number of leaf nodes is never higher than the max number of samples + pf->limit_cache = calloc(max_samples, sizeof(int)); + + pf->current_set = 0; + for (j = 0; j < 2; j++) + { + set = pf->sets + j; + + set->sample_count = max_samples; + set->samples = calloc(max_samples, sizeof(pf_sample_t)); + + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->pose.v[0] = 0.0; + sample->pose.v[1] = 0.0; + sample->pose.v[2] = 0.0; + sample->weight = 1.0 / max_samples; + } + + // HACK: is 3 times max_samples enough? + set->kdtree = pf_kdtree_alloc(3 * max_samples); + + set->cluster_count = 0; + set->cluster_max_count = max_samples; + set->clusters = calloc(set->cluster_max_count, sizeof(pf_cluster_t)); + + set->mean = pf_vector_zero(); + set->cov = pf_matrix_zero(); + } + + pf->w_slow = 0.0; + pf->w_fast = 0.0; + + pf->alpha_slow = alpha_slow; + pf->alpha_fast = alpha_fast; + + //set converged to 0 + pf_init_converged(pf); + + return pf; +} + +// Free an existing filter +void pf_free(pf_t *pf) +{ + int i; + + free(pf->limit_cache); + + for (i = 0; i < 2; i++) + { + free(pf->sets[i].clusters); + pf_kdtree_free(pf->sets[i].kdtree); + free(pf->sets[i].samples); + } + free(pf); + + return; +} + +// Initialize the filter using a gaussian +void pf_init(pf_t *pf, pf_vector_t mean, pf_matrix_t cov) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + pf_pdf_gaussian_t *pdf; + + set = pf->sets + pf->current_set; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set->kdtree); + + set->sample_count = pf->max_samples; + + pdf = pf_pdf_gaussian_alloc(mean, cov); + + // Compute the new sample poses + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / pf->max_samples; + sample->pose = pf_pdf_gaussian_sample(pdf); + + // Add sample to histogram + pf_kdtree_insert(set->kdtree, sample->pose, sample->weight); + } + + pf->w_slow = pf->w_fast = 0.0; + + pf_pdf_gaussian_free(pdf); + + // Re-compute cluster statistics + pf_cluster_stats(pf, set); + + //set converged to 0 + pf_init_converged(pf); + + return; +} + + +// Initialize the filter using some model +void pf_init_model(pf_t *pf, pf_init_model_fn_t init_fn, void *init_data) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set->kdtree); + + set->sample_count = pf->max_samples; + + // Compute the new sample poses + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / pf->max_samples; + sample->pose = (*init_fn) (init_data); + + // Add sample to histogram + pf_kdtree_insert(set->kdtree, sample->pose, sample->weight); + } + + pf->w_slow = pf->w_fast = 0.0; + + // Re-compute cluster statistics + pf_cluster_stats(pf, set); + + //set converged to 0 + pf_init_converged(pf); + + return; +} + +void pf_init_converged(pf_t *pf){ + pf_sample_set_t *set; + set = pf->sets + pf->current_set; + set->converged = 0; + pf->converged = 0; +} + +int pf_update_converged(pf_t *pf) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + double total; + + set = pf->sets + pf->current_set; + double mean_x = 0, mean_y = 0; + + for (i = 0; i < set->sample_count; i++){ + sample = set->samples + i; + + mean_x += sample->pose.v[0]; + mean_y += sample->pose.v[1]; + } + mean_x /= set->sample_count; + mean_y /= set->sample_count; + + for (i = 0; i < set->sample_count; i++){ + sample = set->samples + i; + if(fabs(sample->pose.v[0] - mean_x) > pf->dist_threshold || + fabs(sample->pose.v[1] - mean_y) > pf->dist_threshold){ + set->converged = 0; + pf->converged = 0; + return 0; + } + } + set->converged = 1; + pf->converged = 1; + return 1; +} + +// Update the filter with some new action +void pf_update_action(pf_t *pf, pf_action_model_fn_t action_fn, void *action_data) +{ + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + + (*action_fn) (action_data, set); + + return; +} + + +#include +// Update the filter with some new sensor observation +void pf_update_sensor(pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + double total; + + set = pf->sets + pf->current_set; + + // Compute the sample weights + total = (*sensor_fn) (sensor_data, set); + + set->n_effective = 0; + + if (total > 0.0) + { + // Normalize weights + double w_avg=0.0; + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + w_avg += sample->weight; + sample->weight /= total; + set->n_effective += sample->weight*sample->weight; + } + // Update running averages of likelihood of samples (Prob Rob p258) + w_avg /= set->sample_count; + if(pf->w_slow == 0.0) + pf->w_slow = w_avg; + else + pf->w_slow += pf->alpha_slow * (w_avg - pf->w_slow); + if(pf->w_fast == 0.0) + pf->w_fast = w_avg; + else + pf->w_fast += pf->alpha_fast * (w_avg - pf->w_fast); + //printf("w_avg: %e slow: %e fast: %e\n", + //w_avg, pf->w_slow, pf->w_fast); + } + else + { + // Handle zero total + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / set->sample_count; + } + } + + set->n_effective = 1.0/set->n_effective; + return; +} + +// copy set a to set b +void copy_set(pf_sample_set_t* set_a, pf_sample_set_t* set_b) +{ + int i; + double total; + pf_sample_t *sample_a, *sample_b; + + // Clean set b's kdtree + pf_kdtree_clear(set_b->kdtree); + + // Copy samples from set a to create set b + total = 0; + set_b->sample_count = 0; + + for(i = 0; i < set_a->sample_count; i++) + { + sample_b = set_b->samples + set_b->sample_count++; + + sample_a = set_a->samples + i; + + assert(sample_a->weight > 0); + + // Copy sample a to sample b + sample_b->pose = sample_a->pose; + sample_b->weight = sample_a->weight; + + total += sample_b->weight; + + // Add sample to histogram + pf_kdtree_insert(set_b->kdtree, sample_b->pose, sample_b->weight); + } + + // Normalize weights + for (i = 0; i < set_b->sample_count; i++) + { + sample_b = set_b->samples + i; + sample_b->weight /= total; + } + + set_b->converged = set_a->converged; +} + +// Resample the distribution +void pf_update_resample(pf_t *pf) +{ + int i; + double total; + pf_sample_set_t *set_a, *set_b; + pf_sample_t *sample_a, *sample_b; + + //double r,c,U; + //int m; + //double count_inv; + double* c; + + double w_diff; + + set_a = pf->sets + pf->current_set; + set_b = pf->sets + (pf->current_set + 1) % 2; + + if (pf->selective_resampling != 0) + { + if (set_a->n_effective > 0.5*(set_a->sample_count)) + { + // copy set a to b + copy_set(set_a,set_b); + + // Re-compute cluster statistics + pf_cluster_stats(pf, set_b); + + // Use the newly created sample set + pf->current_set = (pf->current_set + 1) % 2; + return; + } + } + + // Build up cumulative probability table for resampling. + // TODO: Replace this with a more efficient procedure + // (e.g., http://www.network-theory.co.uk/docs/gslref/GeneralDiscreteDistributions.html) + c = (double*)malloc(sizeof(double)*(set_a->sample_count+1)); + c[0] = 0.0; + for(i=0;isample_count;i++) + c[i+1] = c[i]+set_a->samples[i].weight; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set_b->kdtree); + + // Draw samples from set a to create set b. + total = 0; + set_b->sample_count = 0; + + w_diff = 1.0 - pf->w_fast / pf->w_slow; + if(w_diff < 0.0) + w_diff = 0.0; + //printf("w_diff: %9.6f\n", w_diff); + + // Can't (easily) combine low-variance sampler with KLD adaptive + // sampling, so we'll take the more traditional route. + /* + // Low-variance resampler, taken from Probabilistic Robotics, p110 + count_inv = 1.0/set_a->sample_count; + r = drand48() * count_inv; + c = set_a->samples[0].weight; + i = 0; + m = 0; + */ + while(set_b->sample_count < pf->max_samples) + { + sample_b = set_b->samples + set_b->sample_count++; + + if(drand48() < w_diff) + sample_b->pose = (pf->random_pose_fn)(pf->random_pose_data); + else + { + // Can't (easily) combine low-variance sampler with KLD adaptive + // sampling, so we'll take the more traditional route. + /* + // Low-variance resampler, taken from Probabilistic Robotics, p110 + U = r + m * count_inv; + while(U>c) + { + i++; + // Handle wrap-around by resetting counters and picking a new random + // number + if(i >= set_a->sample_count) + { + r = drand48() * count_inv; + c = set_a->samples[0].weight; + i = 0; + m = 0; + U = r + m * count_inv; + continue; + } + c += set_a->samples[i].weight; + } + m++; + */ + + // Naive discrete event sampler + double r; + r = drand48(); + for(i=0;isample_count;i++) + { + if((c[i] <= r) && (r < c[i+1])) + break; + } + assert(isample_count); + + sample_a = set_a->samples + i; + + assert(sample_a->weight > 0); + + // Add sample to list + sample_b->pose = sample_a->pose; + } + + sample_b->weight = 1.0; + total += sample_b->weight; + + // Add sample to histogram + pf_kdtree_insert(set_b->kdtree, sample_b->pose, sample_b->weight); + + // See if we have enough samples yet + if (set_b->sample_count > pf_resample_limit(pf, set_b->kdtree->leaf_count)) + break; + } + + // Reset averages, to avoid spiraling off into complete randomness. + if(w_diff > 0.0) + pf->w_slow = pf->w_fast = 0.0; + + //fprintf(stderr, "\n\n"); + + // Normalize weights + for (i = 0; i < set_b->sample_count; i++) + { + sample_b = set_b->samples + i; + sample_b->weight /= total; + } + + // Re-compute cluster statistics + pf_cluster_stats(pf, set_b); + + // Use the newly created sample set + pf->current_set = (pf->current_set + 1) % 2; + + pf_update_converged(pf); + + free(c); + return; +} + + +// Compute the required number of samples, given that there are k bins +// with samples in them. This is taken directly from Fox et al. +int pf_resample_limit(pf_t *pf, int k) +{ + double a, b, c, x; + int n; + + // Return max_samples in case k is outside expected range, this shouldn't + // happen, but is added to prevent any runtime errors + if (k < 1 || k > pf->max_samples) + return pf->max_samples; + + // Return value if cache is valid, which means value is non-zero positive + if (pf->limit_cache[k-1] > 0) + return pf->limit_cache[k-1]; + + if (k == 1) + { + pf->limit_cache[k-1] = pf->max_samples; + return pf->max_samples; + } + + a = 1; + b = 2 / (9 * ((double) k - 1)); + c = sqrt(2 / (9 * ((double) k - 1))) * pf->pop_z; + x = a - b + c; + + n = (int) ceil((k - 1) / (2 * pf->pop_err) * x * x * x); + + if (n < pf->min_samples) + { + pf->limit_cache[k-1] = pf->min_samples; + return pf->min_samples; + } + if (n > pf->max_samples) + { + pf->limit_cache[k-1] = pf->max_samples; + return pf->max_samples; + } + + pf->limit_cache[k-1] = n; + return n; +} + + +// Re-compute the cluster statistics for a sample set +void pf_cluster_stats(pf_t *pf, pf_sample_set_t *set) +{ + int i, j, k, cidx; + pf_sample_t *sample; + pf_cluster_t *cluster; + + // Workspace + double m[4], c[2][2]; + size_t count; + double weight; + + // Cluster the samples + pf_kdtree_cluster(set->kdtree); + + // Initialize cluster stats + set->cluster_count = 0; + + for (i = 0; i < set->cluster_max_count; i++) + { + cluster = set->clusters + i; + cluster->count = 0; + cluster->weight = 0; + cluster->mean = pf_vector_zero(); + cluster->cov = pf_matrix_zero(); + + for (j = 0; j < 4; j++) + cluster->m[j] = 0.0; + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + cluster->c[j][k] = 0.0; + } + + // Initialize overall filter stats + count = 0; + weight = 0.0; + set->mean = pf_vector_zero(); + set->cov = pf_matrix_zero(); + for (j = 0; j < 4; j++) + m[j] = 0.0; + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + c[j][k] = 0.0; + + // Compute cluster stats + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + + //printf("%d %f %f %f\n", i, sample->pose.v[0], sample->pose.v[1], sample->pose.v[2]); + + // Get the cluster label for this sample + cidx = pf_kdtree_get_cluster(set->kdtree, sample->pose); + assert(cidx >= 0); + if (cidx >= set->cluster_max_count) + continue; + if (cidx + 1 > set->cluster_count) + set->cluster_count = cidx + 1; + + cluster = set->clusters + cidx; + + cluster->count += 1; + cluster->weight += sample->weight; + + count += 1; + weight += sample->weight; + + // Compute mean + cluster->m[0] += sample->weight * sample->pose.v[0]; + cluster->m[1] += sample->weight * sample->pose.v[1]; + cluster->m[2] += sample->weight * cos(sample->pose.v[2]); + cluster->m[3] += sample->weight * sin(sample->pose.v[2]); + + m[0] += sample->weight * sample->pose.v[0]; + m[1] += sample->weight * sample->pose.v[1]; + m[2] += sample->weight * cos(sample->pose.v[2]); + m[3] += sample->weight * sin(sample->pose.v[2]); + + // Compute covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + { + cluster->c[j][k] += sample->weight * sample->pose.v[j] * sample->pose.v[k]; + c[j][k] += sample->weight * sample->pose.v[j] * sample->pose.v[k]; + } + } + + // Normalize + for (i = 0; i < set->cluster_count; i++) + { + cluster = set->clusters + i; + + cluster->mean.v[0] = cluster->m[0] / cluster->weight; + cluster->mean.v[1] = cluster->m[1] / cluster->weight; + cluster->mean.v[2] = atan2(cluster->m[3], cluster->m[2]); + + cluster->cov = pf_matrix_zero(); + + // Covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + cluster->cov.m[j][k] = cluster->c[j][k] / cluster->weight - + cluster->mean.v[j] * cluster->mean.v[k]; + + // Covariance in angular components; I think this is the correct + // formula for circular statistics. + cluster->cov.m[2][2] = -2 * log(sqrt(cluster->m[2] * cluster->m[2] + + cluster->m[3] * cluster->m[3]) / cluster->weight); + + //printf("cluster %d %d %f (%f %f %f)\n", i, cluster->count, cluster->weight, + //cluster->mean.v[0], cluster->mean.v[1], cluster->mean.v[2]); + //pf_matrix_fprintf(cluster->cov, stdout, "%e"); + } + + assert(fabs(weight) >= DBL_EPSILON); + if (fabs(weight) < DBL_EPSILON) + { + printf("ERROR : divide-by-zero exception : weight is zero\n"); + return; + } + // Compute overall filter stats + set->mean.v[0] = m[0] / weight; + set->mean.v[1] = m[1] / weight; + set->mean.v[2] = atan2(m[3], m[2]); + + // Covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + set->cov.m[j][k] = c[j][k] / weight - set->mean.v[j] * set->mean.v[k]; + + // Covariance in angular components; I think this is the correct + // formula for circular statistics. + set->cov.m[2][2] = -2 * log(sqrt(m[2] * m[2] + m[3] * m[3])); + + return; +} + +void pf_set_selective_resampling(pf_t *pf, int selective_resampling) +{ + pf->selective_resampling = selective_resampling; +} + +// Compute the CEP statistics (mean and variance). +void pf_get_cep_stats(pf_t *pf, pf_vector_t *mean, double *var) +{ + int i; + double mn, mx, my, mrr; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + + mn = 0.0; + mx = 0.0; + my = 0.0; + mrr = 0.0; + + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + + mn += sample->weight; + mx += sample->weight * sample->pose.v[0]; + my += sample->weight * sample->pose.v[1]; + mrr += sample->weight * sample->pose.v[0] * sample->pose.v[0]; + mrr += sample->weight * sample->pose.v[1] * sample->pose.v[1]; + } + + assert(fabs(mn) >= DBL_EPSILON); + if (fabs(mn) < DBL_EPSILON) + { + printf("ERROR : divide-by-zero exception : mn is zero\n"); + return; + } + + mean->v[0] = mx / mn; + mean->v[1] = my / mn; + mean->v[2] = 0.0; + + *var = mrr / mn - (mx * mx / (mn * mn) + my * my / (mn * mn)); + + return; +} + + +// Get the statistics for a particular cluster. +int pf_get_cluster_stats(pf_t *pf, int clabel, double *weight, + pf_vector_t *mean, pf_matrix_t *cov) +{ + pf_sample_set_t *set; + pf_cluster_t *cluster; + + set = pf->sets + pf->current_set; + + if (clabel >= set->cluster_count) + return 0; + cluster = set->clusters + clabel; + + *weight = cluster->weight; + *mean = cluster->mean; + *cov = cluster->cov; + + return 1; +} + + diff --git a/src/navigation/amcl/src/amcl/pf/pf_draw.c b/src/navigation/amcl/src/amcl/pf/pf_draw.c new file mode 100644 index 0000000..0c445af --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/pf_draw.c @@ -0,0 +1,163 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Particle filter; drawing routines + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_draw.c 7057 2008-10-02 00:44:06Z gbiggs $ + *************************************************************************/ + +#ifdef INCLUDE_RTKGUI + +#include +#include +#include + + +#include "rtk.h" + +#include "pf.h" +#include "pf_pdf.h" +#include "pf_kdtree.h" + + +// Draw the statistics +void pf_draw_statistics(pf_t *pf, rtk_fig_t *fig); + + +// Draw the sample set +void pf_draw_samples(pf_t *pf, rtk_fig_t *fig, int max_samples) +{ + int i; + double px, py, pa; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + max_samples = MIN(max_samples, set->sample_count); + + for (i = 0; i < max_samples; i++) + { + sample = set->samples + i; + + px = sample->pose.v[0]; + py = sample->pose.v[1]; + pa = sample->pose.v[2]; + + //printf("%f %f\n", px, py); + + rtk_fig_point(fig, px, py); + rtk_fig_arrow(fig, px, py, pa, 0.1, 0.02); + //rtk_fig_rectangle(fig, px, py, 0, 0.1, 0.1, 0); + } + + return; +} + + +// Draw the hitogram (kd tree) +void pf_draw_hist(pf_t *pf, rtk_fig_t *fig) +{ + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + + rtk_fig_color(fig, 0.0, 0.0, 1.0); + pf_kdtree_draw(set->kdtree, fig); + + return; +} + + +// Draw the CEP statistics +void pf_draw_cep_stats(pf_t *pf, rtk_fig_t *fig) +{ + pf_vector_t mean; + double var; + + pf_get_cep_stats(pf, &mean, &var); + var = sqrt(var); + + rtk_fig_color(fig, 0, 0, 1); + rtk_fig_ellipse(fig, mean.v[0], mean.v[1], mean.v[2], 3 * var, 3 * var, 0); + + return; +} + + +// Draw the cluster statistics +void pf_draw_cluster_stats(pf_t *pf, rtk_fig_t *fig) +{ + int i; + pf_cluster_t *cluster; + pf_sample_set_t *set; + pf_vector_t mean; + pf_matrix_t cov; + pf_matrix_t r, d; + double weight, o, d1, d2; + + set = pf->sets + pf->current_set; + + for (i = 0; i < set->cluster_count; i++) + { + cluster = set->clusters + i; + + weight = cluster->weight; + mean = cluster->mean; + cov = cluster->cov; + + // Compute unitary representation S = R D R^T + pf_matrix_unitary(&r, &d, cov); + + /* Debugging + printf("mean = \n"); + pf_vector_fprintf(mean, stdout, "%e"); + printf("cov = \n"); + pf_matrix_fprintf(cov, stdout, "%e"); + printf("r = \n"); + pf_matrix_fprintf(r, stdout, "%e"); + printf("d = \n"); + pf_matrix_fprintf(d, stdout, "%e"); + */ + + // Compute the orientation of the error ellipse (first eigenvector) + o = atan2(r.m[1][0], r.m[0][0]); + d1 = 6 * sqrt(d.m[0][0]); + d2 = 6 * sqrt(d.m[1][1]); + + if (d1 > 1e-3 && d2 > 1e-3) + { + // Draw the error ellipse + rtk_fig_ellipse(fig, mean.v[0], mean.v[1], o, d1, d2, 0); + rtk_fig_line_ex(fig, mean.v[0], mean.v[1], o, d1); + rtk_fig_line_ex(fig, mean.v[0], mean.v[1], o + M_PI / 2, d2); + } + + // Draw a direction indicator + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2], 0.50, 0.10); + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] + 3 * sqrt(cov.m[2][2]), 0.50, 0.10); + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] - 3 * sqrt(cov.m[2][2]), 0.50, 0.10); + } + + return; +} + +#endif diff --git a/src/navigation/amcl/src/amcl/pf/pf_kdtree.c b/src/navigation/amcl/src/amcl/pf/pf_kdtree.c new file mode 100644 index 0000000..b625b83 --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/pf_kdtree.c @@ -0,0 +1,486 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: kd-tree functions + * Author: Andrew Howard + * Date: 18 Dec 2002 + * CVS: $Id: pf_kdtree.c 7057 2008-10-02 00:44:06Z gbiggs $ + *************************************************************************/ + +#include +#include +#include +#include + + +#include "amcl/pf/pf_vector.h" +#include "amcl/pf/pf_kdtree.h" + + +// Compare keys to see if they are equal +static int pf_kdtree_equal(pf_kdtree_t *self, int key_a[], int key_b[]); + +// Insert a node into the tree +static pf_kdtree_node_t *pf_kdtree_insert_node(pf_kdtree_t *self, pf_kdtree_node_t *parent, + pf_kdtree_node_t *node, int key[], double value); + +// Recursive node search +static pf_kdtree_node_t *pf_kdtree_find_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int key[]); + +// Recursively label nodes in this cluster +static void pf_kdtree_cluster_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int depth); + +// Recursive node printing +//static void pf_kdtree_print_node(pf_kdtree_t *self, pf_kdtree_node_t *node); + + +#ifdef INCLUDE_RTKGUI + +// Recursively draw nodes +static void pf_kdtree_draw_node(pf_kdtree_t *self, pf_kdtree_node_t *node, rtk_fig_t *fig); + +#endif + + + +//////////////////////////////////////////////////////////////////////////////// +// Create a tree +pf_kdtree_t *pf_kdtree_alloc(int max_size) +{ + pf_kdtree_t *self; + + self = calloc(1, sizeof(pf_kdtree_t)); + + self->size[0] = 0.50; + self->size[1] = 0.50; + self->size[2] = (10 * M_PI / 180); + + self->root = NULL; + + self->node_count = 0; + self->node_max_count = max_size; + self->nodes = calloc(self->node_max_count, sizeof(pf_kdtree_node_t)); + + self->leaf_count = 0; + + return self; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Destroy a tree +void pf_kdtree_free(pf_kdtree_t *self) +{ + free(self->nodes); + free(self); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Clear all entries from the tree +void pf_kdtree_clear(pf_kdtree_t *self) +{ + self->root = NULL; + self->leaf_count = 0; + self->node_count = 0; + + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Insert a pose into the tree. +void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value) +{ + int key[3]; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + self->root = pf_kdtree_insert_node(self, NULL, self->root, key, value); + + // Test code + /* + printf("find %d %d %d\n", key[0], key[1], key[2]); + assert(pf_kdtree_find_node(self, self->root, key) != NULL); + + pf_kdtree_print_node(self, self->root); + + printf("\n"); + + for (i = 0; i < self->node_count; i++) + { + node = self->nodes + i; + if (node->leaf) + { + printf("find %d %d %d\n", node->key[0], node->key[1], node->key[2]); + assert(pf_kdtree_find_node(self, self->root, node->key) == node); + } + } + printf("\n\n"); + */ + + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the probability estimate for the given pose. TODO: this +// should do a kernel density estimate rather than a simple histogram. +double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose) +{ + int key[3]; + pf_kdtree_node_t *node; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + node = pf_kdtree_find_node(self, self->root, key); + if (node == NULL) + return 0.0; + return node->value; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the cluster label for the given pose +int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose) +{ + int key[3]; + pf_kdtree_node_t *node; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + node = pf_kdtree_find_node(self, self->root, key); + if (node == NULL) + return -1; + return node->cluster; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Compare keys to see if they are equal +int pf_kdtree_equal(pf_kdtree_t *self, int key_a[], int key_b[]) +{ + //double a, b; + + if (key_a[0] != key_b[0]) + return 0; + if (key_a[1] != key_b[1]) + return 0; + + if (key_a[2] != key_b[2]) + return 0; + + /* TODO: make this work (pivot selection needs fixing, too) + // Normalize angles + a = key_a[2] * self->size[2]; + a = atan2(sin(a), cos(a)) / self->size[2]; + b = key_b[2] * self->size[2]; + b = atan2(sin(b), cos(b)) / self->size[2]; + + if ((int) a != (int) b) + return 0; + */ + + return 1; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Insert a node into the tree +pf_kdtree_node_t *pf_kdtree_insert_node(pf_kdtree_t *self, pf_kdtree_node_t *parent, + pf_kdtree_node_t *node, int key[], double value) +{ + int i; + int split, max_split; + + // If the node doesnt exist yet... + if (node == NULL) + { + assert(self->node_count < self->node_max_count); + node = self->nodes + self->node_count++; + memset(node, 0, sizeof(pf_kdtree_node_t)); + + node->leaf = 1; + + if (parent == NULL) + node->depth = 0; + else + node->depth = parent->depth + 1; + + for (i = 0; i < 3; i++) + node->key[i] = key[i]; + + node->value = value; + self->leaf_count += 1; + } + + // If the node exists, and it is a leaf node... + else if (node->leaf) + { + // If the keys are equal, increment the value + if (pf_kdtree_equal(self, key, node->key)) + { + node->value += value; + } + + // The keys are not equal, so split this node + else + { + // Find the dimension with the largest variance and do a mean + // split + max_split = 0; + node->pivot_dim = -1; + for (i = 0; i < 3; i++) + { + split = abs(key[i] - node->key[i]); + if (split > max_split) + { + max_split = split; + node->pivot_dim = i; + } + } + assert(node->pivot_dim >= 0); + + node->pivot_value = (key[node->pivot_dim] + node->key[node->pivot_dim]) / 2.0; + + if (key[node->pivot_dim] < node->pivot_value) + { + node->children[0] = pf_kdtree_insert_node(self, node, NULL, key, value); + node->children[1] = pf_kdtree_insert_node(self, node, NULL, node->key, node->value); + } + else + { + node->children[0] = pf_kdtree_insert_node(self, node, NULL, node->key, node->value); + node->children[1] = pf_kdtree_insert_node(self, node, NULL, key, value); + } + + node->leaf = 0; + self->leaf_count -= 1; + } + } + + // If the node exists, and it has children... + else + { + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + + if (key[node->pivot_dim] < node->pivot_value) + pf_kdtree_insert_node(self, node, node->children[0], key, value); + else + pf_kdtree_insert_node(self, node, node->children[1], key, value); + } + + return node; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursive node search +pf_kdtree_node_t *pf_kdtree_find_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int key[]) +{ + if (node->leaf) + { + //printf("find : leaf %p %d %d %d\n", node, node->key[0], node->key[1], node->key[2]); + + // If the keys are the same... + if (pf_kdtree_equal(self, key, node->key)) + return node; + else + return NULL; + } + else + { + //printf("find : brch %p %d %f\n", node, node->pivot_dim, node->pivot_value); + + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + + // If the keys are different... + if (key[node->pivot_dim] < node->pivot_value) + return pf_kdtree_find_node(self, node->children[0], key); + else + return pf_kdtree_find_node(self, node->children[1], key); + } + + return NULL; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursive node printing +/* +void pf_kdtree_print_node(pf_kdtree_t *self, pf_kdtree_node_t *node) +{ + if (node->leaf) + { + printf("(%+02d %+02d %+02d)\n", node->key[0], node->key[1], node->key[2]); + printf("%*s", node->depth * 11, ""); + } + else + { + printf("(%+02d %+02d %+02d) ", node->key[0], node->key[1], node->key[2]); + pf_kdtree_print_node(self, node->children[0]); + pf_kdtree_print_node(self, node->children[1]); + } + return; +} +*/ + + +//////////////////////////////////////////////////////////////////////////////// +// Cluster the leaves in the tree +void pf_kdtree_cluster(pf_kdtree_t *self) +{ + int i; + int queue_count, cluster_count; + pf_kdtree_node_t **queue, *node; + + queue_count = 0; + queue = calloc(self->node_count, sizeof(queue[0])); + + // Put all the leaves in a queue + for (i = 0; i < self->node_count; i++) + { + node = self->nodes + i; + if (node->leaf) + { + node->cluster = -1; + assert(queue_count < self->node_count); + queue[queue_count++] = node; + + // TESTING; remove + assert(node == pf_kdtree_find_node(self, self->root, node->key)); + } + } + + cluster_count = 0; + + // Do connected components for each node + while (queue_count > 0) + { + node = queue[--queue_count]; + + // If this node has already been labelled, skip it + if (node->cluster >= 0) + continue; + + // Assign a label to this cluster + node->cluster = cluster_count++; + + // Recursively label nodes in this cluster + pf_kdtree_cluster_node(self, node, 0); + } + + free(queue); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursively label nodes in this cluster +void pf_kdtree_cluster_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int depth) +{ + int i; + int nkey[3]; + pf_kdtree_node_t *nnode; + + for (i = 0; i < 3 * 3 * 3; i++) + { + nkey[0] = node->key[0] + (i / 9) - 1; + nkey[1] = node->key[1] + ((i % 9) / 3) - 1; + nkey[2] = node->key[2] + ((i % 9) % 3) - 1; + + nnode = pf_kdtree_find_node(self, self->root, nkey); + if (nnode == NULL) + continue; + + assert(nnode->leaf); + + // This node already has a label; skip it. The label should be + // consistent, however. + if (nnode->cluster >= 0) + { + assert(nnode->cluster == node->cluster); + continue; + } + + // Label this node and recurse + nnode->cluster = node->cluster; + + pf_kdtree_cluster_node(self, nnode, depth + 1); + } + return; +} + + + +#ifdef INCLUDE_RTKGUI + +//////////////////////////////////////////////////////////////////////////////// +// Draw the tree +void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig) +{ + if (self->root != NULL) + pf_kdtree_draw_node(self, self->root, fig); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursively draw nodes +void pf_kdtree_draw_node(pf_kdtree_t *self, pf_kdtree_node_t *node, rtk_fig_t *fig) +{ + double ox, oy; + char text[64]; + + if (node->leaf) + { + ox = (node->key[0] + 0.5) * self->size[0]; + oy = (node->key[1] + 0.5) * self->size[1]; + + rtk_fig_rectangle(fig, ox, oy, 0.0, self->size[0], self->size[1], 0); + + //snprintf(text, sizeof(text), "%0.3f", node->value); + //rtk_fig_text(fig, ox, oy, 0.0, text); + + snprintf(text, sizeof(text), "%d", node->cluster); + rtk_fig_text(fig, ox, oy, 0.0, text); + } + else + { + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + pf_kdtree_draw_node(self, node->children[0], fig); + pf_kdtree_draw_node(self, node->children[1], fig); + } + + return; +} + +#endif diff --git a/src/navigation/amcl/src/amcl/pf/pf_pdf.c b/src/navigation/amcl/src/amcl/pf/pf_pdf.c new file mode 100644 index 0000000..06310a5 --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/pf_pdf.c @@ -0,0 +1,147 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Useful pdf functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_pdf.c 6348 2008-04-17 02:53:17Z gerkey $ + *************************************************************************/ + +#include +#include +#include +#include +//#include +//#include + +#include "amcl/pf/pf_pdf.h" +#include "portable_utils.hpp" + +// Random number generator seed value +static unsigned int pf_pdf_seed; + + +/************************************************************************** + * Gaussian + *************************************************************************/ + +// Create a gaussian pdf +pf_pdf_gaussian_t *pf_pdf_gaussian_alloc(pf_vector_t x, pf_matrix_t cx) +{ + pf_matrix_t cd; + pf_pdf_gaussian_t *pdf; + + pdf = calloc(1, sizeof(pf_pdf_gaussian_t)); + + pdf->x = x; + pdf->cx = cx; + //pdf->cxi = pf_matrix_inverse(cx, &pdf->cxdet); + + // Decompose the convariance matrix into a rotation + // matrix and a diagonal matrix. + pf_matrix_unitary(&pdf->cr, &cd, pdf->cx); + pdf->cd.v[0] = sqrt(cd.m[0][0]); + pdf->cd.v[1] = sqrt(cd.m[1][1]); + pdf->cd.v[2] = sqrt(cd.m[2][2]); + + // Initialize the random number generator + //pdf->rng = gsl_rng_alloc(gsl_rng_taus); + //gsl_rng_set(pdf->rng, ++pf_pdf_seed); + srand48(++pf_pdf_seed); + + return pdf; +} + + +// Destroy the pdf +void pf_pdf_gaussian_free(pf_pdf_gaussian_t *pdf) +{ + //gsl_rng_free(pdf->rng); + free(pdf); + return; +} + + +/* +// Compute the value of the pdf at some point [x]. +double pf_pdf_gaussian_value(pf_pdf_gaussian_t *pdf, pf_vector_t x) +{ + int i, j; + pf_vector_t z; + double zz, p; + + z = pf_vector_sub(x, pdf->x); + + zz = 0; + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + zz += z.v[i] * pdf->cxi.m[i][j] * z.v[j]; + + p = 1 / (2 * M_PI * pdf->cxdet) * exp(-zz / 2); + + return p; +} +*/ + + +// Generate a sample from the pdf. +pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf) +{ + int i, j; + pf_vector_t r; + pf_vector_t x; + + // Generate a random vector + for (i = 0; i < 3; i++) + { + //r.v[i] = gsl_ran_gaussian(pdf->rng, pdf->cd.v[i]); + r.v[i] = pf_ran_gaussian(pdf->cd.v[i]); + } + + for (i = 0; i < 3; i++) + { + x.v[i] = pdf->x.v[i]; + for (j = 0; j < 3; j++) + x.v[i] += pdf->cr.m[i][j] * r.v[j]; + } + + return x; +} + +// Draw randomly from a zero-mean Gaussian distribution, with standard +// deviation sigma. +// We use the polar form of the Box-Muller transformation, explained here: +// http://www.taygeta.com/random/gaussian.html +double pf_ran_gaussian(double sigma) +{ + double x1, x2, w, r; + + do + { + do { r = drand48(); } while (r==0.0); + x1 = 2.0 * r - 1.0; + do { r = drand48(); } while (r==0.0); + x2 = 2.0 * r - 1.0; + w = x1*x1 + x2*x2; + } while(w > 1.0 || w==0.0); + + return(sigma * x2 * sqrt(-2.0*log(w)/w)); +} diff --git a/src/navigation/amcl/src/amcl/pf/pf_vector.c b/src/navigation/amcl/src/amcl/pf/pf_vector.c new file mode 100644 index 0000000..23d7ccb --- /dev/null +++ b/src/navigation/amcl/src/amcl/pf/pf_vector.c @@ -0,0 +1,276 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Vector functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_vector.c 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#include +//#include +//#include +//#include + +#include "amcl/pf/pf_vector.h" +#include "amcl/pf/eig3.h" + + +// Return a zero vector +pf_vector_t pf_vector_zero() +{ + pf_vector_t c; + + c.v[0] = 0.0; + c.v[1] = 0.0; + c.v[2] = 0.0; + + return c; +} + + +// Check for NAN or INF in any component +int pf_vector_finite(pf_vector_t a) +{ + int i; + + for (i = 0; i < 3; i++) + if (!isfinite(a.v[i])) + return 0; + + return 1; +} + + +// Print a vector +void pf_vector_fprintf(pf_vector_t a, FILE *file, const char *fmt) +{ + int i; + + for (i = 0; i < 3; i++) + { + fprintf(file, fmt, a.v[i]); + fprintf(file, " "); + } + fprintf(file, "\n"); + + return; +} + + +// Simple vector addition +pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = a.v[0] + b.v[0]; + c.v[1] = a.v[1] + b.v[1]; + c.v[2] = a.v[2] + b.v[2]; + + return c; +} + + +// Simple vector subtraction +pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = a.v[0] - b.v[0]; + c.v[1] = a.v[1] - b.v[1]; + c.v[2] = a.v[2] - b.v[2]; + + return c; +} + + +// Transform from local to global coords (a + b) +pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = b.v[0] + a.v[0] * cos(b.v[2]) - a.v[1] * sin(b.v[2]); + c.v[1] = b.v[1] + a.v[0] * sin(b.v[2]) + a.v[1] * cos(b.v[2]); + c.v[2] = b.v[2] + a.v[2]; + c.v[2] = atan2(sin(c.v[2]), cos(c.v[2])); + + return c; +} + + +// Transform from global to local coords (a - b) +pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = +(a.v[0] - b.v[0]) * cos(b.v[2]) + (a.v[1] - b.v[1]) * sin(b.v[2]); + c.v[1] = -(a.v[0] - b.v[0]) * sin(b.v[2]) + (a.v[1] - b.v[1]) * cos(b.v[2]); + c.v[2] = a.v[2] - b.v[2]; + c.v[2] = atan2(sin(c.v[2]), cos(c.v[2])); + + return c; +} + + +// Return a zero matrix +pf_matrix_t pf_matrix_zero() +{ + int i, j; + pf_matrix_t c; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + c.m[i][j] = 0.0; + + return c; +} + + +// Check for NAN or INF in any component +int pf_matrix_finite(pf_matrix_t a) +{ + int i, j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + if (!isfinite(a.m[i][j])) + return 0; + + return 1; +} + + +// Print a matrix +void pf_matrix_fprintf(pf_matrix_t a, FILE *file, const char *fmt) +{ + int i, j; + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + fprintf(file, fmt, a.m[i][j]); + fprintf(file, " "); + } + fprintf(file, "\n"); + } + return; +} + + +/* +// Compute the matrix inverse +pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det) +{ + double lndet; + int signum; + gsl_permutation *p; + gsl_matrix_view A, Ai; + + pf_matrix_t ai; + + A = gsl_matrix_view_array((double*) a.m, 3, 3); + Ai = gsl_matrix_view_array((double*) ai.m, 3, 3); + + // Do LU decomposition + p = gsl_permutation_alloc(3); + gsl_linalg_LU_decomp(&A.matrix, p, &signum); + + // Check for underflow + lndet = gsl_linalg_LU_lndet(&A.matrix); + if (lndet < -1000) + { + //printf("underflow in matrix inverse lndet = %f", lndet); + gsl_matrix_set_zero(&Ai.matrix); + } + else + { + // Compute inverse + gsl_linalg_LU_invert(&A.matrix, p, &Ai.matrix); + } + + gsl_permutation_free(p); + + if (det) + *det = exp(lndet); + + return ai; +} +*/ + + +// Decompose a covariance matrix [a] into a rotation matrix [r] and a diagonal +// matrix [d] such that a = r d r^T. +void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a) +{ + int i, j; + /* + gsl_matrix *aa; + gsl_vector *eval; + gsl_matrix *evec; + gsl_eigen_symmv_workspace *w; + + aa = gsl_matrix_alloc(3, 3); + eval = gsl_vector_alloc(3); + evec = gsl_matrix_alloc(3, 3); + */ + + double aa[3][3]; + double eval[3]; + double evec[3][3]; + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + //gsl_matrix_set(aa, i, j, a.m[i][j]); + aa[i][j] = a.m[i][j]; + } + } + + // Compute eigenvectors/values + /* + w = gsl_eigen_symmv_alloc(3); + gsl_eigen_symmv(aa, eval, evec, w); + gsl_eigen_symmv_free(w); + */ + + eigen_decomposition(aa,evec,eval); + + *d = pf_matrix_zero(); + for (i = 0; i < 3; i++) + { + //d->m[i][i] = gsl_vector_get(eval, i); + d->m[i][i] = eval[i]; + for (j = 0; j < 3; j++) + { + //r->m[i][j] = gsl_matrix_get(evec, i, j); + r->m[i][j] = evec[i][j]; + } + } + + //gsl_matrix_free(evec); + //gsl_vector_free(eval); + //gsl_matrix_free(aa); + + return; +} + diff --git a/src/navigation/amcl/src/amcl/sensors/amcl_laser.cpp b/src/navigation/amcl/src/amcl/sensors/amcl_laser.cpp new file mode 100644 index 0000000..f8aa35c --- /dev/null +++ b/src/navigation/amcl/src/amcl/sensors/amcl_laser.cpp @@ -0,0 +1,510 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL laser routines +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_laser.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + +#include // required by Darwin +#include +#include +#include +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "amcl/sensors/amcl_laser.h" + +using namespace amcl; + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLLaser::AMCLLaser(size_t max_beams, map_t* map) : AMCLSensor(), + max_samples(0), max_obs(0), + temp_obs(NULL) +{ + this->time = 0.0; + + this->max_beams = max_beams; + this->map = map; + + return; +} + +AMCLLaser::~AMCLLaser() +{ + if(temp_obs){ + for(int k=0; k < max_samples; k++){ + delete [] temp_obs[k]; + } + delete []temp_obs; + } +} + +void +AMCLLaser::SetModelBeam(double z_hit, + double z_short, + double z_max, + double z_rand, + double sigma_hit, + double lambda_short, + double chi_outlier) +{ + this->model_type = LASER_MODEL_BEAM; + this->z_hit = z_hit; + this->z_short = z_short; + this->z_max = z_max; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + this->lambda_short = lambda_short; + this->chi_outlier = chi_outlier; +} + +void +AMCLLaser::SetModelLikelihoodField(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist) +{ + this->model_type = LASER_MODEL_LIKELIHOOD_FIELD; + this->z_hit = z_hit; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + + map_update_cspace(this->map, max_occ_dist); +} + +void +AMCLLaser::SetModelLikelihoodFieldProb(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist, + bool do_beamskip, + double beam_skip_distance, + double beam_skip_threshold, + double beam_skip_error_threshold) +{ + this->model_type = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + this->z_hit = z_hit; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + this->do_beamskip = do_beamskip; + this->beam_skip_distance = beam_skip_distance; + this->beam_skip_threshold = beam_skip_threshold; + this->beam_skip_error_threshold = beam_skip_error_threshold; + map_update_cspace(this->map, max_occ_dist); +} + + +//////////////////////////////////////////////////////////////////////////////// +// Apply the laser sensor model +bool AMCLLaser::UpdateSensor(pf_t *pf, AMCLSensorData *data) +{ + if (this->max_beams < 2) + return false; + + // Apply the laser sensor model + if(this->model_type == LASER_MODEL_BEAM) + pf_update_sensor(pf, (pf_sensor_model_fn_t) BeamModel, data); + else if(this->model_type == LASER_MODEL_LIKELIHOOD_FIELD) + pf_update_sensor(pf, (pf_sensor_model_fn_t) LikelihoodFieldModel, data); + else if(this->model_type == LASER_MODEL_LIKELIHOOD_FIELD_PROB) + pf_update_sensor(pf, (pf_sensor_model_fn_t) LikelihoodFieldModelProb, data); + else + pf_update_sensor(pf, (pf_sensor_model_fn_t) BeamModel, data); + + return true; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the probability for the given pose +double AMCLLaser::BeamModel(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double p; + double map_range; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + p = 1.0; + + step = (data->range_count - 1) / (self->max_beams - 1); + for (i = 0; i < data->range_count; i += step) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // Compute the range according to the map + map_range = map_calc_range(self->map, pose.v[0], pose.v[1], + pose.v[2] + obs_bearing, data->range_max); + pz = 0.0; + + // Part 1: good, but noisy, hit + z = obs_range - map_range; + pz += self->z_hit * exp(-(z * z) / (2 * self->sigma_hit * self->sigma_hit)); + + // Part 2: short reading from unexpected obstacle (e.g., a person) + if(z < 0) + pz += self->z_short * self->lambda_short * exp(-self->lambda_short*obs_range); + + // Part 3: Failure to detect obstacle, reported as max-range + if(obs_range == data->range_max) + pz += self->z_max * 1.0; + + // Part 4: Random measurements + if(obs_range < data->range_max) + pz += self->z_rand * 1.0/data->range_max; + + // TODO: outlier rejection for short readings + + assert(pz <= 1.0); + assert(pz >= 0.0); + // p *= pz; + // here we have an ad-hoc weighting scheme for combining beam probs + // works well, though... + p += pz*pz*pz; + } + + sample->weight *= p; + total_weight += sample->weight; + } + + return(total_weight); +} + +double AMCLLaser::LikelihoodFieldModel(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double p; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + pf_vector_t hit; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + p = 1.0; + + // Pre-compute a couple of things + double z_hit_denom = 2 * self->sigma_hit * self->sigma_hit; + double z_rand_mult = 1.0/data->range_max; + + step = (data->range_count - 1) / (self->max_beams - 1); + + // Step size must be at least 1 + if(step < 1) + step = 1; + + for (i = 0; i < data->range_count; i += step) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // This model ignores max range readings + if(obs_range >= data->range_max) + continue; + + // Check for NaN + if(obs_range != obs_range) + continue; + + pz = 0.0; + + // Compute the endpoint of the beam + hit.v[0] = pose.v[0] + obs_range * cos(pose.v[2] + obs_bearing); + hit.v[1] = pose.v[1] + obs_range * sin(pose.v[2] + obs_bearing); + + // Convert to map grid coords. + int mi, mj; + mi = MAP_GXWX(self->map, hit.v[0]); + mj = MAP_GYWY(self->map, hit.v[1]); + + // Part 1: Get distance from the hit to closest obstacle. + // Off-map penalized as max distance + if(!MAP_VALID(self->map, mi, mj)) + z = self->map->max_occ_dist; + else + z = self->map->cells[MAP_INDEX(self->map,mi,mj)].occ_dist; + // Gaussian model + // NOTE: this should have a normalization of 1/(sqrt(2pi)*sigma) + pz += self->z_hit * exp(-(z * z) / z_hit_denom); + // Part 2: random measurements + pz += self->z_rand * z_rand_mult; + + // TODO: outlier rejection for short readings + + assert(pz <= 1.0); + assert(pz >= 0.0); + // p *= pz; + // here we have an ad-hoc weighting scheme for combining beam probs + // works well, though... + p += pz*pz*pz; + } + + sample->weight *= p; + total_weight += sample->weight; + } + + return(total_weight); +} + +double AMCLLaser::LikelihoodFieldModelProb(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double log_p; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + pf_vector_t hit; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + step = ceil((data->range_count) / static_cast(self->max_beams)); + + // Step size must be at least 1 + if(step < 1) + step = 1; + + // Pre-compute a couple of things + double z_hit_denom = 2 * self->sigma_hit * self->sigma_hit; + double z_rand_mult = 1.0/data->range_max; + + double max_dist_prob = exp(-(self->map->max_occ_dist * self->map->max_occ_dist) / z_hit_denom); + + //Beam skipping - ignores beams for which a majority of particles do not agree with the map + //prevents correct particles from getting down weighted because of unexpected obstacles + //such as humans + + bool do_beamskip = self->do_beamskip; + double beam_skip_distance = self->beam_skip_distance; + double beam_skip_threshold = self->beam_skip_threshold; + + //we only do beam skipping if the filter has converged + if(do_beamskip && !set->converged){ + do_beamskip = false; + } + + //we need a count the no of particles for which the beam agreed with the map + int *obs_count = new int[self->max_beams](); + + //we also need a mask of which observations to integrate (to decide which beams to integrate to all particles) + bool *obs_mask = new bool[self->max_beams](); + + int beam_ind = 0; + + //realloc indicates if we need to reallocate the temp data structure needed to do beamskipping + bool realloc = false; + + if(do_beamskip){ + if(self->max_obs < self->max_beams){ + realloc = true; + } + + if(self->max_samples < set->sample_count){ + realloc = true; + } + + if(realloc){ + self->reallocTempData(set->sample_count, self->max_beams); + fprintf(stderr, "Reallocing temp weights %d - %d\n", self->max_samples, self->max_obs); + } + } + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + log_p = 0; + + beam_ind = 0; + + for (i = 0; i < data->range_count; i += step, beam_ind++) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // This model ignores max range readings + if(obs_range >= data->range_max){ + continue; + } + + // Check for NaN + if(obs_range != obs_range){ + continue; + } + + pz = 0.0; + + // Compute the endpoint of the beam + hit.v[0] = pose.v[0] + obs_range * cos(pose.v[2] + obs_bearing); + hit.v[1] = pose.v[1] + obs_range * sin(pose.v[2] + obs_bearing); + + // Convert to map grid coords. + int mi, mj; + mi = MAP_GXWX(self->map, hit.v[0]); + mj = MAP_GYWY(self->map, hit.v[1]); + + // Part 1: Get distance from the hit to closest obstacle. + // Off-map penalized as max distance + + if(!MAP_VALID(self->map, mi, mj)){ + pz += self->z_hit * max_dist_prob; + } + else{ + z = self->map->cells[MAP_INDEX(self->map,mi,mj)].occ_dist; + if(z < beam_skip_distance){ + obs_count[beam_ind] += 1; + } + pz += self->z_hit * exp(-(z * z) / z_hit_denom); + } + + // Gaussian model + // NOTE: this should have a normalization of 1/(sqrt(2pi)*sigma) + + // Part 2: random measurements + pz += self->z_rand * z_rand_mult; + + assert(pz <= 1.0); + assert(pz >= 0.0); + + // TODO: outlier rejection for short readings + + if(!do_beamskip){ + log_p += log(pz); + } + else{ + self->temp_obs[j][beam_ind] = pz; + } + } + if(!do_beamskip){ + sample->weight *= exp(log_p); + total_weight += sample->weight; + } + } + + if(do_beamskip){ + int skipped_beam_count = 0; + for (beam_ind = 0; beam_ind < self->max_beams; beam_ind++){ + if((obs_count[beam_ind] / static_cast(set->sample_count)) > beam_skip_threshold){ + obs_mask[beam_ind] = true; + } + else{ + obs_mask[beam_ind] = false; + skipped_beam_count++; + } + } + + //we check if there is at least a critical number of beams that agreed with the map + //otherwise it probably indicates that the filter converged to a wrong solution + //if that's the case we integrate all the beams and hope the filter might converge to + //the right solution + bool error = false; + + if(skipped_beam_count >= (beam_ind * self->beam_skip_error_threshold)){ + fprintf(stderr, "Over %f%% of the observations were not in the map - pf may have converged to wrong pose - integrating all observations\n", (100 * self->beam_skip_error_threshold)); + error = true; + } + + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + log_p = 0; + + for (beam_ind = 0; beam_ind < self->max_beams; beam_ind++){ + if(error || obs_mask[beam_ind]){ + log_p += log(self->temp_obs[j][beam_ind]); + } + } + + sample->weight *= exp(log_p); + + total_weight += sample->weight; + } + } + + delete [] obs_count; + delete [] obs_mask; + return(total_weight); +} + +void AMCLLaser::reallocTempData(int new_max_samples, int new_max_obs){ + if(temp_obs){ + for(int k=0; k < max_samples; k++){ + delete [] temp_obs[k]; + } + delete []temp_obs; + } + max_obs = new_max_obs; + max_samples = fmax(max_samples, new_max_samples); + + temp_obs = new double*[max_samples](); + for(int k=0; k < max_samples; k++){ + temp_obs[k] = new double[max_obs](); + } +} diff --git a/src/navigation/amcl/src/amcl/sensors/amcl_odom.cpp b/src/navigation/amcl/src/amcl/sensors/amcl_odom.cpp new file mode 100644 index 0000000..5aa846f --- /dev/null +++ b/src/navigation/amcl/src/amcl/sensors/amcl_odom.cpp @@ -0,0 +1,310 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL odometry routines +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_odom.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + +#include + +#include // required by Darwin +#include + +#include "amcl/sensors/amcl_odom.h" + +using namespace amcl; + +static double +normalize(double z) +{ + return atan2(sin(z),cos(z)); +} +static double +angle_diff(double a, double b) +{ + double d1, d2; + a = normalize(a); + b = normalize(b); + d1 = a-b; + d2 = 2*M_PI - fabs(d1); + if(d1 > 0) + d2 *= -1.0; + if(fabs(d1) < fabs(d2)) + return(d1); + else + return(d2); +} + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLOdom::AMCLOdom() : AMCLSensor() +{ + this->time = 0.0; +} + +void +AMCLOdom::SetModelDiff(double alpha1, + double alpha2, + double alpha3, + double alpha4) +{ + this->model_type = ODOM_MODEL_DIFF; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; +} + +void +AMCLOdom::SetModelOmni(double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5) +{ + this->model_type = ODOM_MODEL_OMNI; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; + this->alpha5 = alpha5; +} + +void +AMCLOdom::SetModel( odom_model_t type, + double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5 ) +{ + this->model_type = type; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; + this->alpha5 = alpha5; +} + +//////////////////////////////////////////////////////////////////////////////// +// Apply the action model +bool AMCLOdom::UpdateAction(pf_t *pf, AMCLSensorData *data) +{ + AMCLOdomData *ndata; + ndata = (AMCLOdomData*) data; + + // Compute the new sample poses + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + pf_vector_t old_pose = pf_vector_sub(ndata->pose, ndata->delta); + + switch( this->model_type ) + { + case ODOM_MODEL_OMNI: + { + double delta_trans, delta_rot, delta_bearing; + double delta_trans_hat, delta_rot_hat, delta_strafe_hat; + + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot = ndata->delta.v[2]; + + // Precompute a couple of things + double trans_hat_stddev = (alpha3 * (delta_trans*delta_trans) + + alpha1 * (delta_rot*delta_rot)); + double rot_hat_stddev = (alpha4 * (delta_rot*delta_rot) + + alpha2 * (delta_trans*delta_trans)); + double strafe_hat_stddev = (alpha1 * (delta_rot*delta_rot) + + alpha5 * (delta_trans*delta_trans)); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + delta_bearing = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]) + sample->pose.v[2]; + double cs_bearing = cos(delta_bearing); + double sn_bearing = sin(delta_bearing); + + // Sample pose differences + delta_trans_hat = delta_trans + pf_ran_gaussian(trans_hat_stddev); + delta_rot_hat = delta_rot + pf_ran_gaussian(rot_hat_stddev); + delta_strafe_hat = 0 + pf_ran_gaussian(strafe_hat_stddev); + // Apply sampled update to particle pose + sample->pose.v[0] += (delta_trans_hat * cs_bearing + + delta_strafe_hat * sn_bearing); + sample->pose.v[1] += (delta_trans_hat * sn_bearing - + delta_strafe_hat * cs_bearing); + sample->pose.v[2] += delta_rot_hat ; + } + } + break; + case ODOM_MODEL_DIFF: + { + // Implement sample_motion_odometry (Prob Rob p 136) + double delta_rot1, delta_trans, delta_rot2; + double delta_rot1_hat, delta_trans_hat, delta_rot2_hat; + double delta_rot1_noise, delta_rot2_noise; + + // Avoid computing a bearing from two poses that are extremely near each + // other (happens on in-place rotation). + if(sqrt(ndata->delta.v[1]*ndata->delta.v[1] + + ndata->delta.v[0]*ndata->delta.v[0]) < 0.01) + delta_rot1 = 0.0; + else + delta_rot1 = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]); + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot2 = angle_diff(ndata->delta.v[2], delta_rot1); + + // We want to treat backward and forward motion symmetrically for the + // noise model to be applied below. The standard model seems to assume + // forward motion. + delta_rot1_noise = std::min(fabs(angle_diff(delta_rot1,0.0)), + fabs(angle_diff(delta_rot1,M_PI))); + delta_rot2_noise = std::min(fabs(angle_diff(delta_rot2,0.0)), + fabs(angle_diff(delta_rot2,M_PI))); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + // Sample pose differences + delta_rot1_hat = angle_diff(delta_rot1, + pf_ran_gaussian(this->alpha1*delta_rot1_noise*delta_rot1_noise + + this->alpha2*delta_trans*delta_trans)); + delta_trans_hat = delta_trans - + pf_ran_gaussian(this->alpha3*delta_trans*delta_trans + + this->alpha4*delta_rot1_noise*delta_rot1_noise + + this->alpha4*delta_rot2_noise*delta_rot2_noise); + delta_rot2_hat = angle_diff(delta_rot2, + pf_ran_gaussian(this->alpha1*delta_rot2_noise*delta_rot2_noise + + this->alpha2*delta_trans*delta_trans)); + + // Apply sampled update to particle pose + sample->pose.v[0] += delta_trans_hat * + cos(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[1] += delta_trans_hat * + sin(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[2] += delta_rot1_hat + delta_rot2_hat; + } + } + break; + case ODOM_MODEL_OMNI_CORRECTED: + { + double delta_trans, delta_rot, delta_bearing; + double delta_trans_hat, delta_rot_hat, delta_strafe_hat; + + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot = ndata->delta.v[2]; + + // Precompute a couple of things + double trans_hat_stddev = sqrt( alpha3 * (delta_trans*delta_trans) + + alpha4 * (delta_rot*delta_rot) ); + double rot_hat_stddev = sqrt( alpha1 * (delta_rot*delta_rot) + + alpha2 * (delta_trans*delta_trans) ); + double strafe_hat_stddev = sqrt( alpha4 * (delta_rot*delta_rot) + + alpha5 * (delta_trans*delta_trans) ); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + delta_bearing = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]) + sample->pose.v[2]; + double cs_bearing = cos(delta_bearing); + double sn_bearing = sin(delta_bearing); + + // Sample pose differences + delta_trans_hat = delta_trans + pf_ran_gaussian(trans_hat_stddev); + delta_rot_hat = delta_rot + pf_ran_gaussian(rot_hat_stddev); + delta_strafe_hat = 0 + pf_ran_gaussian(strafe_hat_stddev); + // Apply sampled update to particle pose + sample->pose.v[0] += (delta_trans_hat * cs_bearing + + delta_strafe_hat * sn_bearing); + sample->pose.v[1] += (delta_trans_hat * sn_bearing - + delta_strafe_hat * cs_bearing); + sample->pose.v[2] += delta_rot_hat ; + } + } + break; + case ODOM_MODEL_DIFF_CORRECTED: + { + // Implement sample_motion_odometry (Prob Rob p 136) + double delta_rot1, delta_trans, delta_rot2; + double delta_rot1_hat, delta_trans_hat, delta_rot2_hat; + double delta_rot1_noise, delta_rot2_noise; + + // Avoid computing a bearing from two poses that are extremely near each + // other (happens on in-place rotation). + if(sqrt(ndata->delta.v[1]*ndata->delta.v[1] + + ndata->delta.v[0]*ndata->delta.v[0]) < 0.01) + delta_rot1 = 0.0; + else + delta_rot1 = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]); + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot2 = angle_diff(ndata->delta.v[2], delta_rot1); + + // We want to treat backward and forward motion symmetrically for the + // noise model to be applied below. The standard model seems to assume + // forward motion. + delta_rot1_noise = std::min(fabs(angle_diff(delta_rot1,0.0)), + fabs(angle_diff(delta_rot1,M_PI))); + delta_rot2_noise = std::min(fabs(angle_diff(delta_rot2,0.0)), + fabs(angle_diff(delta_rot2,M_PI))); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + // Sample pose differences + delta_rot1_hat = angle_diff(delta_rot1, + pf_ran_gaussian(sqrt(this->alpha1*delta_rot1_noise*delta_rot1_noise + + this->alpha2*delta_trans*delta_trans))); + delta_trans_hat = delta_trans - + pf_ran_gaussian(sqrt(this->alpha3*delta_trans*delta_trans + + this->alpha4*delta_rot1_noise*delta_rot1_noise + + this->alpha4*delta_rot2_noise*delta_rot2_noise)); + delta_rot2_hat = angle_diff(delta_rot2, + pf_ran_gaussian(sqrt(this->alpha1*delta_rot2_noise*delta_rot2_noise + + this->alpha2*delta_trans*delta_trans))); + + // Apply sampled update to particle pose + sample->pose.v[0] += delta_trans_hat * + cos(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[1] += delta_trans_hat * + sin(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[2] += delta_rot1_hat + delta_rot2_hat; + } + } + break; + } + return true; +} diff --git a/src/navigation/amcl/src/amcl/sensors/amcl_sensor.cpp b/src/navigation/amcl/src/amcl/sensors/amcl_sensor.cpp new file mode 100644 index 0000000..48e190d --- /dev/null +++ b/src/navigation/amcl/src/amcl/sensors/amcl_sensor.cpp @@ -0,0 +1,95 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL sensor +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_sensor.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + + +#include "amcl/sensors/amcl_sensor.h" + +using namespace amcl; + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLSensor::AMCLSensor() +{ + return; +} + +AMCLSensor::~AMCLSensor() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Apply the action model +bool AMCLSensor::UpdateAction(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Initialize the filter +bool AMCLSensor::InitSensor(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Apply the sensor model +bool AMCLSensor::UpdateSensor(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +#ifdef INCLUDE_RTKGUI + +//////////////////////////////////////////////////////////////////////////////// +// Setup the GUI +void AMCLSensor::SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig) +{ + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Shutdown the GUI +void AMCLSensor::ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig) +{ + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Draw sensor data +void AMCLSensor::UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data) +{ + return; +} + +#endif diff --git a/src/navigation/amcl/src/amcl_node.cpp b/src/navigation/amcl/src/amcl_node.cpp new file mode 100644 index 0000000..20f3ea5 --- /dev/null +++ b/src/navigation/amcl/src/amcl_node.cpp @@ -0,0 +1,1643 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +/* Author: Brian Gerkey */ + +#include +#include +#include +#include +#include + +#include +#include + +// Signal handling +#include + +#include "amcl/map/map.h" +#include "amcl/pf/pf.h" +#include "amcl/sensors/amcl_odom.h" +#include "amcl/sensors/amcl_laser.h" +#include "portable_utils.hpp" + +#include "ros/assert.h" + +// roscpp +#include "ros/ros.h" + +// Messages that I need +#include "sensor_msgs/LaserScan.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include "geometry_msgs/PoseArray.h" +#include "geometry_msgs/Pose.h" +#include "geometry_msgs/PoseStamped.h" +#include "nav_msgs/GetMap.h" +#include "nav_msgs/SetMap.h" +#include "std_srvs/Empty.h" + +// For transform support +#include "tf2/LinearMath/Transform.h" +#include "tf2/convert.h" +#include "tf2/utils.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.h" +#include "tf2_ros/buffer.h" +#include "tf2_ros/message_filter.h" +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/transform_listener.h" +#include "message_filters/subscriber.h" + +// Dynamic_reconfigure +#include "dynamic_reconfigure/server.h" +#include "amcl/AMCLConfig.h" + +// Allows AMCL to run from bag file +#include +#include +#include + +// For monitoring the estimator +#include + +#define NEW_UNIFORM_SAMPLING 1 + +using namespace amcl; + +// Pose hypothesis +typedef struct +{ + // Total weight (weights sum to 1) + double weight; + + // Mean of pose esimate + pf_vector_t pf_pose_mean; + + // Covariance of pose estimate + pf_matrix_t pf_pose_cov; + +} amcl_hyp_t; + +static double +normalize(double z) +{ + return atan2(sin(z),cos(z)); +} +static double +angle_diff(double a, double b) +{ + double d1, d2; + a = normalize(a); + b = normalize(b); + d1 = a-b; + d2 = 2*M_PI - fabs(d1); + if(d1 > 0) + d2 *= -1.0; + if(fabs(d1) < fabs(d2)) + return(d1); + else + return(d2); +} + +static const std::string scan_topic_ = "scan"; + +/* This function is only useful to have the whole code work + * with old rosbags that have trailing slashes for their frames + */ +inline +std::string stripSlash(const std::string& in) +{ + std::string out = in; + if ( ( !in.empty() ) && (in[0] == '/') ) + out.erase(0,1); + return out; +} + +class AmclNode +{ + public: + AmclNode(); + ~AmclNode(); + + /** + * @brief Uses TF and LaserScan messages from bag file to drive AMCL instead + * @param in_bag_fn input bagfile + * @param trigger_global_localization whether to trigger global localization + * before starting to process the bagfile + */ + void runFromBag(const std::string &in_bag_fn, bool trigger_global_localization = false); + + int process(); + void savePoseToServer(); + + private: + std::shared_ptr tfb_; + std::shared_ptr tfl_; + std::shared_ptr tf_; + + bool sent_first_transform_; + + tf2::Transform latest_tf_; + bool latest_tf_valid_; + + // Pose-generating function used to uniformly distribute particles over + // the map + static pf_vector_t uniformPoseGenerator(void* arg); +#if NEW_UNIFORM_SAMPLING + static std::vector > free_space_indices; +#endif + // Callbacks + bool globalLocalizationCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + bool nomotionUpdateCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + bool setMapCallback(nav_msgs::SetMap::Request& req, + nav_msgs::SetMap::Response& res); + + void laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan); + void initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg); + void handleInitialPoseMessage(const geometry_msgs::PoseWithCovarianceStamped& msg); + void mapReceived(const nav_msgs::OccupancyGridConstPtr& msg); + + void handleMapMessage(const nav_msgs::OccupancyGrid& msg); + void freeMapDependentMemory(); + map_t* convertMap( const nav_msgs::OccupancyGrid& map_msg ); + void updatePoseFromServer(); + void applyInitialPose(); + + //parameter for which odom to use + std::string odom_frame_id_; + + //paramater to store latest odom pose + geometry_msgs::PoseStamped latest_odom_pose_; + + //parameter for which base to use + std::string base_frame_id_; + std::string global_frame_id_; + + bool use_map_topic_; + bool first_map_only_; + + ros::Duration gui_publish_period; + ros::Time save_pose_last_time; + ros::Duration save_pose_period; + + geometry_msgs::PoseWithCovarianceStamped last_published_pose; + + map_t* map_; + char* mapdata; + int sx, sy; + double resolution; + + message_filters::Subscriber* laser_scan_sub_; + tf2_ros::MessageFilter* laser_scan_filter_; + ros::Subscriber initial_pose_sub_; + std::vector< AMCLLaser* > lasers_; + std::vector< bool > lasers_update_; + std::map< std::string, int > frame_to_laser_; + + // Particle filter + pf_t *pf_; + double pf_err_, pf_z_; + bool pf_init_; + pf_vector_t pf_odom_pose_; + double d_thresh_, a_thresh_; + int resample_interval_; + int resample_count_; + double laser_min_range_; + double laser_max_range_; + + //Nomotion update control + bool m_force_update; // used to temporarily let amcl update samples even when no motion occurs... + + AMCLOdom* odom_; + AMCLLaser* laser_; + + ros::Duration cloud_pub_interval; + ros::Time last_cloud_pub_time; + + // For slowing play-back when reading directly from a bag file + ros::WallDuration bag_scan_period_; + + void requestMap(); + + // Helper to get odometric pose from transform system + bool getOdomPose(geometry_msgs::PoseStamped& pose, + double& x, double& y, double& yaw, + const ros::Time& t, const std::string& f); + + //time for tolerance on the published transform, + //basically defines how long a map->odom transform is good for + ros::Duration transform_tolerance_; + + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + ros::Publisher pose_pub_; + ros::Publisher particlecloud_pub_; + ros::ServiceServer global_loc_srv_; + ros::ServiceServer nomotion_update_srv_; //to let amcl update samples without requiring motion + ros::ServiceServer set_map_srv_; + ros::Subscriber initial_pose_sub_old_; + ros::Subscriber map_sub_; + + diagnostic_updater::Updater diagnosic_updater_; + void standardDeviationDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& diagnostic_status); + double std_warn_level_x_; + double std_warn_level_y_; + double std_warn_level_yaw_; + + amcl_hyp_t* initial_pose_hyp_; + bool first_map_received_; + bool first_reconfigure_call_; + + boost::recursive_mutex configuration_mutex_; + dynamic_reconfigure::Server *dsrv_; + amcl::AMCLConfig default_config_; + ros::Timer check_laser_timer_; + + int max_beams_, min_particles_, max_particles_; + double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_; + double alpha_slow_, alpha_fast_; + double z_hit_, z_short_, z_max_, z_rand_, sigma_hit_, lambda_short_; + //beam skip related params + bool do_beamskip_; + double beam_skip_distance_, beam_skip_threshold_, beam_skip_error_threshold_; + double laser_likelihood_max_dist_; + odom_model_t odom_model_type_; + double init_pose_[3]; + double init_cov_[3]; + laser_model_t laser_model_type_; + bool tf_broadcast_; + bool selective_resampling_; + + void reconfigureCB(amcl::AMCLConfig &config, uint32_t level); + + ros::Time last_laser_received_ts_; + ros::Duration laser_check_interval_; + void checkLaserReceived(const ros::TimerEvent& event); +}; + +#if NEW_UNIFORM_SAMPLING +std::vector > AmclNode::free_space_indices; +#endif + +#define USAGE "USAGE: amcl" + +boost::shared_ptr amcl_node_ptr; + +void sigintHandler(int sig) +{ + // Save latest pose as we're shutting down. + amcl_node_ptr->savePoseToServer(); + ros::shutdown(); +} + +int +main(int argc, char** argv) +{ + ros::init(argc, argv, "amcl"); + ros::NodeHandle nh; + + // Override default sigint handler + signal(SIGINT, sigintHandler); + + // Make our node available to sigintHandler + amcl_node_ptr.reset(new AmclNode()); + + if (argc == 1) + { + // run using ROS input + ros::spin(); + } + else if ((argc >= 3) && (std::string(argv[1]) == "--run-from-bag")) + { + if (argc == 3) + { + amcl_node_ptr->runFromBag(argv[2]); + } + else if ((argc == 4) && (std::string(argv[3]) == "--global-localization")) + { + amcl_node_ptr->runFromBag(argv[2], true); + } + } + + // Without this, our boost locks are not shut down nicely + amcl_node_ptr.reset(); + + // To quote Morgan, Hooray! + return(0); +} + +AmclNode::AmclNode() : + sent_first_transform_(false), + latest_tf_valid_(false), + map_(NULL), + pf_(NULL), + resample_count_(0), + odom_(NULL), + laser_(NULL), + private_nh_("~"), + initial_pose_hyp_(NULL), + first_map_received_(false), + first_reconfigure_call_(true) +{ + boost::recursive_mutex::scoped_lock l(configuration_mutex_); + + // Grab params off the param server + private_nh_.param("use_map_topic", use_map_topic_, false); + private_nh_.param("first_map_only", first_map_only_, false); + + double tmp; + private_nh_.param("gui_publish_rate", tmp, -1.0); + gui_publish_period = ros::Duration(1.0/tmp); + private_nh_.param("save_pose_rate", tmp, 0.5); + save_pose_period = ros::Duration(1.0/tmp); + + private_nh_.param("laser_min_range", laser_min_range_, -1.0); + private_nh_.param("laser_max_range", laser_max_range_, -1.0); + private_nh_.param("laser_max_beams", max_beams_, 30); + private_nh_.param("min_particles", min_particles_, 100); + private_nh_.param("max_particles", max_particles_, 5000); + private_nh_.param("kld_err", pf_err_, 0.01); + private_nh_.param("kld_z", pf_z_, 0.99); + private_nh_.param("odom_alpha1", alpha1_, 0.2); + private_nh_.param("odom_alpha2", alpha2_, 0.2); + private_nh_.param("odom_alpha3", alpha3_, 0.2); + private_nh_.param("odom_alpha4", alpha4_, 0.2); + private_nh_.param("odom_alpha5", alpha5_, 0.2); + + private_nh_.param("do_beamskip", do_beamskip_, false); + private_nh_.param("beam_skip_distance", beam_skip_distance_, 0.5); + private_nh_.param("beam_skip_threshold", beam_skip_threshold_, 0.3); + if (private_nh_.hasParam("beam_skip_error_threshold_")) + { + private_nh_.param("beam_skip_error_threshold_", beam_skip_error_threshold_); + } + else + { + private_nh_.param("beam_skip_error_threshold", beam_skip_error_threshold_, 0.9); + } + + private_nh_.param("laser_z_hit", z_hit_, 0.95); + private_nh_.param("laser_z_short", z_short_, 0.1); + private_nh_.param("laser_z_max", z_max_, 0.05); + private_nh_.param("laser_z_rand", z_rand_, 0.05); + private_nh_.param("laser_sigma_hit", sigma_hit_, 0.2); + private_nh_.param("laser_lambda_short", lambda_short_, 0.1); + private_nh_.param("laser_likelihood_max_dist", laser_likelihood_max_dist_, 2.0); + std::string tmp_model_type; + private_nh_.param("laser_model_type", tmp_model_type, std::string("likelihood_field")); + if(tmp_model_type == "beam") + laser_model_type_ = LASER_MODEL_BEAM; + else if(tmp_model_type == "likelihood_field") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + else if(tmp_model_type == "likelihood_field_prob"){ + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + } + else + { + ROS_WARN("Unknown laser model type \"%s\"; defaulting to likelihood_field model", + tmp_model_type.c_str()); + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + } + + private_nh_.param("odom_model_type", tmp_model_type, std::string("diff")); + if(tmp_model_type == "diff") + odom_model_type_ = ODOM_MODEL_DIFF; + else if(tmp_model_type == "omni") + odom_model_type_ = ODOM_MODEL_OMNI; + else if(tmp_model_type == "diff-corrected") + odom_model_type_ = ODOM_MODEL_DIFF_CORRECTED; + else if(tmp_model_type == "omni-corrected") + odom_model_type_ = ODOM_MODEL_OMNI_CORRECTED; + else + { + ROS_WARN("Unknown odom model type \"%s\"; defaulting to diff model", + tmp_model_type.c_str()); + odom_model_type_ = ODOM_MODEL_DIFF; + } + + private_nh_.param("update_min_d", d_thresh_, 0.2); + private_nh_.param("update_min_a", a_thresh_, M_PI/6.0); + private_nh_.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_.param("base_frame_id", base_frame_id_, std::string("base_link")); + private_nh_.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh_.param("resample_interval", resample_interval_, 2); + private_nh_.param("selective_resampling", selective_resampling_, false); + double tmp_tol; + private_nh_.param("transform_tolerance", tmp_tol, 0.1); + private_nh_.param("recovery_alpha_slow", alpha_slow_, 0.001); + private_nh_.param("recovery_alpha_fast", alpha_fast_, 0.1); + private_nh_.param("tf_broadcast", tf_broadcast_, true); + + // For diagnostics + private_nh_.param("std_warn_level_x", std_warn_level_x_, 0.2); + private_nh_.param("std_warn_level_y", std_warn_level_y_, 0.2); + private_nh_.param("std_warn_level_yaw", std_warn_level_yaw_, 0.1); + + transform_tolerance_.fromSec(tmp_tol); + + { + double bag_scan_period; + private_nh_.param("bag_scan_period", bag_scan_period, -1.0); + bag_scan_period_.fromSec(bag_scan_period); + } + + odom_frame_id_ = stripSlash(odom_frame_id_); + base_frame_id_ = stripSlash(base_frame_id_); + global_frame_id_ = stripSlash(global_frame_id_); + + updatePoseFromServer(); + + cloud_pub_interval.fromSec(1.0); + tfb_.reset(new tf2_ros::TransformBroadcaster()); + tf_.reset(new tf2_ros::Buffer()); + tfl_.reset(new tf2_ros::TransformListener(*tf_)); + + pose_pub_ = nh_.advertise("amcl_pose", 2, true); + particlecloud_pub_ = nh_.advertise("particlecloud", 2, true); + global_loc_srv_ = nh_.advertiseService("global_localization", + &AmclNode::globalLocalizationCallback, + this); + nomotion_update_srv_= nh_.advertiseService("request_nomotion_update", &AmclNode::nomotionUpdateCallback, this); + set_map_srv_= nh_.advertiseService("set_map", &AmclNode::setMapCallback, this); + + laser_scan_sub_ = new message_filters::Subscriber(nh_, scan_topic_, 100); + laser_scan_filter_ = + new tf2_ros::MessageFilter(*laser_scan_sub_, + *tf_, + odom_frame_id_, + 100, + nh_); + laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived, + this, _1)); + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); + + if(use_map_topic_) { + map_sub_ = nh_.subscribe("map", 1, &AmclNode::mapReceived, this); + ROS_INFO("Subscribed to map topic."); + } else { + requestMap(); + } + m_force_update = false; + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~")); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&AmclNode::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + + // 15s timer to warn on lack of receipt of laser scans, #5209 + laser_check_interval_ = ros::Duration(15.0); + check_laser_timer_ = nh_.createTimer(laser_check_interval_, + boost::bind(&AmclNode::checkLaserReceived, this, _1)); + + diagnosic_updater_.setHardwareID("None"); + diagnosic_updater_.add("Standard deviation", this, &AmclNode::standardDeviationDiagnostics); +} + +void AmclNode::reconfigureCB(AMCLConfig &config, uint32_t level) +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + + //we don't want to do anything on the first call + //which corresponds to startup + if(first_reconfigure_call_) + { + first_reconfigure_call_ = false; + default_config_ = config; + return; + } + + if(config.restore_defaults) { + config = default_config_; + //avoid looping + config.restore_defaults = false; + } + + d_thresh_ = config.update_min_d; + a_thresh_ = config.update_min_a; + + resample_interval_ = config.resample_interval; + + laser_min_range_ = config.laser_min_range; + laser_max_range_ = config.laser_max_range; + + gui_publish_period = ros::Duration(1.0/config.gui_publish_rate); + save_pose_period = ros::Duration(1.0/config.save_pose_rate); + + transform_tolerance_.fromSec(config.transform_tolerance); + + max_beams_ = config.laser_max_beams; + alpha1_ = config.odom_alpha1; + alpha2_ = config.odom_alpha2; + alpha3_ = config.odom_alpha3; + alpha4_ = config.odom_alpha4; + alpha5_ = config.odom_alpha5; + + z_hit_ = config.laser_z_hit; + z_short_ = config.laser_z_short; + z_max_ = config.laser_z_max; + z_rand_ = config.laser_z_rand; + sigma_hit_ = config.laser_sigma_hit; + lambda_short_ = config.laser_lambda_short; + laser_likelihood_max_dist_ = config.laser_likelihood_max_dist; + + if(config.laser_model_type == "beam") + laser_model_type_ = LASER_MODEL_BEAM; + else if(config.laser_model_type == "likelihood_field") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + else if(config.laser_model_type == "likelihood_field_prob") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + + if(config.odom_model_type == "diff") + odom_model_type_ = ODOM_MODEL_DIFF; + else if(config.odom_model_type == "omni") + odom_model_type_ = ODOM_MODEL_OMNI; + else if(config.odom_model_type == "diff-corrected") + odom_model_type_ = ODOM_MODEL_DIFF_CORRECTED; + else if(config.odom_model_type == "omni-corrected") + odom_model_type_ = ODOM_MODEL_OMNI_CORRECTED; + + if(config.min_particles > config.max_particles) + { + ROS_WARN("You've set min_particles to be greater than max particles, this isn't allowed so they'll be set to be equal."); + config.max_particles = config.min_particles; + } + + min_particles_ = config.min_particles; + max_particles_ = config.max_particles; + alpha_slow_ = config.recovery_alpha_slow; + alpha_fast_ = config.recovery_alpha_fast; + tf_broadcast_ = config.tf_broadcast; + + do_beamskip_= config.do_beamskip; + beam_skip_distance_ = config.beam_skip_distance; + beam_skip_threshold_ = config.beam_skip_threshold; + + // Clear queued laser objects so that their parameters get updated + lasers_.clear(); + lasers_update_.clear(); + frame_to_laser_.clear(); + + if( pf_ != NULL ) + { + pf_free( pf_ ); + pf_ = NULL; + } + pf_ = pf_alloc(min_particles_, max_particles_, + alpha_slow_, alpha_fast_, + (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + pf_set_selective_resampling(pf_, selective_resampling_); + pf_err_ = config.kld_err; + pf_z_ = config.kld_z; + pf_->pop_err = pf_err_; + pf_->pop_z = pf_z_; + + // Initialize the filter + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = last_published_pose.pose.pose.position.x; + pf_init_pose_mean.v[1] = last_published_pose.pose.pose.position.y; + pf_init_pose_mean.v[2] = tf2::getYaw(last_published_pose.pose.pose.orientation); + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + pf_init_pose_cov.m[0][0] = last_published_pose.pose.covariance[6*0+0]; + pf_init_pose_cov.m[1][1] = last_published_pose.pose.covariance[6*1+1]; + pf_init_pose_cov.m[2][2] = last_published_pose.pose.covariance[6*5+5]; + pf_init(pf_, pf_init_pose_mean, pf_init_pose_cov); + pf_init_ = false; + + // Instantiate the sensor objects + // Odometry + delete odom_; + odom_ = new AMCLOdom(); + ROS_ASSERT(odom_); + odom_->SetModel( odom_model_type_, alpha1_, alpha2_, alpha3_, alpha4_, alpha5_ ); + // Laser + delete laser_; + laser_ = new AMCLLaser(max_beams_, map_); + ROS_ASSERT(laser_); + if(laser_model_type_ == LASER_MODEL_BEAM) + laser_->SetModelBeam(z_hit_, z_short_, z_max_, z_rand_, + sigma_hit_, lambda_short_, 0.0); + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD_PROB){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodFieldProb(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_, + do_beamskip_, beam_skip_distance_, + beam_skip_threshold_, beam_skip_error_threshold_); + ROS_INFO("Done initializing likelihood field model with probabilities."); + } + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodField(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_); + ROS_INFO("Done initializing likelihood field model."); + } + + odom_frame_id_ = stripSlash(config.odom_frame_id); + base_frame_id_ = stripSlash(config.base_frame_id); + global_frame_id_ = stripSlash(config.global_frame_id); + + delete laser_scan_filter_; + laser_scan_filter_ = + new tf2_ros::MessageFilter(*laser_scan_sub_, + *tf_, + odom_frame_id_, + 100, + nh_); + laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived, + this, _1)); + + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); +} + + +void AmclNode::runFromBag(const std::string &in_bag_fn, bool trigger_global_localization) +{ + rosbag::Bag bag; + bag.open(in_bag_fn, rosbag::bagmode::Read); + std::vector topics; + topics.push_back(std::string("tf")); + std::string scan_topic_name = "base_scan"; // TODO determine what topic this actually is from ROS + topics.push_back(scan_topic_name); + rosbag::View view(bag, rosbag::TopicQuery(topics)); + + ros::Publisher laser_pub = nh_.advertise(scan_topic_name, 100); + ros::Publisher tf_pub = nh_.advertise("/tf", 100); + + // Sleep for a second to let all subscribers connect + ros::WallDuration(1.0).sleep(); + + ros::WallTime start(ros::WallTime::now()); + + // Wait for map + while (ros::ok()) + { + { + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + if (map_) + { + ROS_INFO("Map is ready"); + break; + } + } + ROS_INFO("Waiting for the map..."); + ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(1.0)); + } + + if (trigger_global_localization) + { + std_srvs::Empty empty_srv; + globalLocalizationCallback(empty_srv.request, empty_srv.response); + } + + BOOST_FOREACH(rosbag::MessageInstance const msg, view) + { + if (!ros::ok()) + { + break; + } + + // Process any ros messages or callbacks at this point + ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration()); + + tf2_msgs::TFMessage::ConstPtr tf_msg = msg.instantiate(); + if (tf_msg != NULL) + { + tf_pub.publish(msg); + for (size_t ii=0; iitransforms.size(); ++ii) + { + tf_->setTransform(tf_msg->transforms[ii], "rosbag_authority"); + } + continue; + } + + sensor_msgs::LaserScan::ConstPtr base_scan = msg.instantiate(); + if (base_scan != NULL) + { + laser_pub.publish(msg); + laser_scan_filter_->add(base_scan); + if (bag_scan_period_ > ros::WallDuration(0)) + { + bag_scan_period_.sleep(); + } + continue; + } + + ROS_WARN_STREAM("Unsupported message type" << msg.getTopic()); + } + + bag.close(); + + double runtime = (ros::WallTime::now() - start).toSec(); + ROS_INFO("Bag complete, took %.1f seconds to process, shutting down", runtime); + + const geometry_msgs::Quaternion & q(last_published_pose.pose.pose.orientation); + double yaw, pitch, roll; + tf2::Matrix3x3(tf2::Quaternion(q.x, q.y, q.z, q.w)).getEulerYPR(yaw,pitch,roll); + ROS_INFO("Final location %.3f, %.3f, %.3f with stamp=%f", + last_published_pose.pose.pose.position.x, + last_published_pose.pose.pose.position.y, + yaw, last_published_pose.header.stamp.toSec() + ); + + ros::shutdown(); +} + + +void AmclNode::savePoseToServer() +{ + // We need to apply the last transform to the latest odom pose to get + // the latest map pose to store. We'll take the covariance from + // last_published_pose. + tf2::Transform odom_pose_tf2; + tf2::convert(latest_odom_pose_.pose, odom_pose_tf2); + tf2::Transform map_pose = latest_tf_.inverse() * odom_pose_tf2; + + double yaw = tf2::getYaw(map_pose.getRotation()); + + ROS_DEBUG("Saving pose to server. x: %.3f, y: %.3f", map_pose.getOrigin().x(), map_pose.getOrigin().y() ); + + private_nh_.setParam("initial_pose_x", map_pose.getOrigin().x()); + private_nh_.setParam("initial_pose_y", map_pose.getOrigin().y()); + private_nh_.setParam("initial_pose_a", yaw); + private_nh_.setParam("initial_cov_xx", + last_published_pose.pose.covariance[6*0+0]); + private_nh_.setParam("initial_cov_yy", + last_published_pose.pose.covariance[6*1+1]); + private_nh_.setParam("initial_cov_aa", + last_published_pose.pose.covariance[6*5+5]); +} + +void AmclNode::updatePoseFromServer() +{ + init_pose_[0] = 0.0; + init_pose_[1] = 0.0; + init_pose_[2] = 0.0; + init_cov_[0] = 0.5 * 0.5; + init_cov_[1] = 0.5 * 0.5; + init_cov_[2] = (M_PI/12.0) * (M_PI/12.0); + // Check for NAN on input from param server, #5239 + double tmp_pos; + private_nh_.param("initial_pose_x", tmp_pos, init_pose_[0]); + if(!std::isnan(tmp_pos)) + init_pose_[0] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose X position"); + private_nh_.param("initial_pose_y", tmp_pos, init_pose_[1]); + if(!std::isnan(tmp_pos)) + init_pose_[1] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose Y position"); + private_nh_.param("initial_pose_a", tmp_pos, init_pose_[2]); + if(!std::isnan(tmp_pos)) + init_pose_[2] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose Yaw"); + private_nh_.param("initial_cov_xx", tmp_pos, init_cov_[0]); + if(!std::isnan(tmp_pos)) + init_cov_[0] =tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance XX"); + private_nh_.param("initial_cov_yy", tmp_pos, init_cov_[1]); + if(!std::isnan(tmp_pos)) + init_cov_[1] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance YY"); + private_nh_.param("initial_cov_aa", tmp_pos, init_cov_[2]); + if(!std::isnan(tmp_pos)) + init_cov_[2] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance AA"); +} + +void +AmclNode::checkLaserReceived(const ros::TimerEvent& event) +{ + ros::Duration d = ros::Time::now() - last_laser_received_ts_; + if(d > laser_check_interval_) + { + ROS_WARN("No laser scan received (and thus no pose updates have been published) for %f seconds. Verify that data is being published on the %s topic.", + d.toSec(), + ros::names::resolve(scan_topic_).c_str()); + } +} + +void +AmclNode::requestMap() +{ + boost::recursive_mutex::scoped_lock ml(configuration_mutex_); + + // get map via RPC + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ROS_INFO("Requesting the map..."); + while(!ros::service::call("static_map", req, resp)) + { + ROS_WARN("Request for map failed; trying again..."); + ros::Duration d(0.5); + d.sleep(); + } + handleMapMessage( resp.map ); +} + +void +AmclNode::mapReceived(const nav_msgs::OccupancyGridConstPtr& msg) +{ + if( first_map_only_ && first_map_received_ ) { + return; + } + + handleMapMessage( *msg ); + + first_map_received_ = true; +} + +void +AmclNode::handleMapMessage(const nav_msgs::OccupancyGrid& msg) +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + + ROS_INFO("Received a %d X %d map @ %.3f m/pix\n", + msg.info.width, + msg.info.height, + msg.info.resolution); + + if(msg.header.frame_id != global_frame_id_) + ROS_WARN("Frame_id of map received:'%s' doesn't match global_frame_id:'%s'. This could cause issues with reading published topics", + msg.header.frame_id.c_str(), + global_frame_id_.c_str()); + + freeMapDependentMemory(); + // Clear queued laser objects because they hold pointers to the existing + // map, #5202. + lasers_.clear(); + lasers_update_.clear(); + frame_to_laser_.clear(); + + map_ = convertMap(msg); + +#if NEW_UNIFORM_SAMPLING + // Index of free space + free_space_indices.resize(0); + for(int i = 0; i < map_->size_x; i++) + for(int j = 0; j < map_->size_y; j++) + if(map_->cells[MAP_INDEX(map_,i,j)].occ_state == -1) + free_space_indices.push_back(std::make_pair(i,j)); +#endif + // Create the particle filter + pf_ = pf_alloc(min_particles_, max_particles_, + alpha_slow_, alpha_fast_, + (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + pf_set_selective_resampling(pf_, selective_resampling_); + pf_->pop_err = pf_err_; + pf_->pop_z = pf_z_; + + // Initialize the filter + updatePoseFromServer(); + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = init_pose_[0]; + pf_init_pose_mean.v[1] = init_pose_[1]; + pf_init_pose_mean.v[2] = init_pose_[2]; + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + pf_init_pose_cov.m[0][0] = init_cov_[0]; + pf_init_pose_cov.m[1][1] = init_cov_[1]; + pf_init_pose_cov.m[2][2] = init_cov_[2]; + pf_init(pf_, pf_init_pose_mean, pf_init_pose_cov); + pf_init_ = false; + + // Instantiate the sensor objects + // Odometry + delete odom_; + odom_ = new AMCLOdom(); + ROS_ASSERT(odom_); + odom_->SetModel( odom_model_type_, alpha1_, alpha2_, alpha3_, alpha4_, alpha5_ ); + // Laser + delete laser_; + laser_ = new AMCLLaser(max_beams_, map_); + ROS_ASSERT(laser_); + if(laser_model_type_ == LASER_MODEL_BEAM) + laser_->SetModelBeam(z_hit_, z_short_, z_max_, z_rand_, + sigma_hit_, lambda_short_, 0.0); + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD_PROB){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodFieldProb(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_, + do_beamskip_, beam_skip_distance_, + beam_skip_threshold_, beam_skip_error_threshold_); + ROS_INFO("Done initializing likelihood field model."); + } + else + { + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodField(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_); + ROS_INFO("Done initializing likelihood field model."); + } + + // In case the initial pose message arrived before the first map, + // try to apply the initial pose now that the map has arrived. + applyInitialPose(); + +} + +void +AmclNode::freeMapDependentMemory() +{ + if( map_ != NULL ) { + map_free( map_ ); + map_ = NULL; + } + if( pf_ != NULL ) { + pf_free( pf_ ); + pf_ = NULL; + } + delete odom_; + odom_ = NULL; + delete laser_; + laser_ = NULL; +} + +/** + * Convert an OccupancyGrid map message into the internal + * representation. This allocates a map_t and returns it. + */ +map_t* +AmclNode::convertMap( const nav_msgs::OccupancyGrid& map_msg ) +{ + map_t* map = map_alloc(); + ROS_ASSERT(map); + + map->size_x = map_msg.info.width; + map->size_y = map_msg.info.height; + map->scale = map_msg.info.resolution; + map->origin_x = map_msg.info.origin.position.x + (map->size_x / 2) * map->scale; + map->origin_y = map_msg.info.origin.position.y + (map->size_y / 2) * map->scale; + // Convert to player format + map->cells = (map_cell_t*)malloc(sizeof(map_cell_t)*map->size_x*map->size_y); + ROS_ASSERT(map->cells); + for(int i=0;isize_x * map->size_y;i++) + { + if(map_msg.data[i] == 0) + map->cells[i].occ_state = -1; + else if(map_msg.data[i] == 100) + map->cells[i].occ_state = +1; + else + map->cells[i].occ_state = 0; + } + + return map; +} + +AmclNode::~AmclNode() +{ + delete dsrv_; + freeMapDependentMemory(); + delete laser_scan_filter_; + delete laser_scan_sub_; + // TODO: delete everything allocated in constructor +} + +bool +AmclNode::getOdomPose(geometry_msgs::PoseStamped& odom_pose, + double& x, double& y, double& yaw, + const ros::Time& t, const std::string& f) +{ + // Get the robot's pose + geometry_msgs::PoseStamped ident; + ident.header.frame_id = stripSlash(f); + ident.header.stamp = t; + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + try + { + this->tf_->transform(ident, odom_pose, odom_frame_id_); + } + catch(tf2::TransformException e) + { + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + x = odom_pose.pose.position.x; + y = odom_pose.pose.position.y; + yaw = tf2::getYaw(odom_pose.pose.orientation); + + return true; +} + + +pf_vector_t +AmclNode::uniformPoseGenerator(void* arg) +{ + map_t* map = (map_t*)arg; +#if NEW_UNIFORM_SAMPLING + unsigned int rand_index = drand48() * free_space_indices.size(); + std::pair free_point = free_space_indices[rand_index]; + pf_vector_t p; + p.v[0] = MAP_WXGX(map, free_point.first); + p.v[1] = MAP_WYGY(map, free_point.second); + p.v[2] = drand48() * 2 * M_PI - M_PI; +#else + double min_x, max_x, min_y, max_y; + + min_x = (map->size_x * map->scale)/2.0 - map->origin_x; + max_x = (map->size_x * map->scale)/2.0 + map->origin_x; + min_y = (map->size_y * map->scale)/2.0 - map->origin_y; + max_y = (map->size_y * map->scale)/2.0 + map->origin_y; + + pf_vector_t p; + + ROS_DEBUG("Generating new uniform sample"); + for(;;) + { + p.v[0] = min_x + drand48() * (max_x - min_x); + p.v[1] = min_y + drand48() * (max_y - min_y); + p.v[2] = drand48() * 2 * M_PI - M_PI; + // Check that it's a free cell + int i,j; + i = MAP_GXWX(map, p.v[0]); + j = MAP_GYWY(map, p.v[1]); + if(MAP_VALID(map,i,j) && (map->cells[MAP_INDEX(map,i,j)].occ_state == -1)) + break; + } +#endif + return p; +} + +bool +AmclNode::globalLocalizationCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res) +{ + if( map_ == NULL ) { + return true; + } + boost::recursive_mutex::scoped_lock gl(configuration_mutex_); + ROS_INFO("Initializing with uniform distribution"); + pf_init_model(pf_, (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + ROS_INFO("Global initialisation done!"); + pf_init_ = false; + return true; +} + +// force nomotion updates (amcl updating without requiring motion) +bool +AmclNode::nomotionUpdateCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res) +{ + m_force_update = true; + //ROS_INFO("Requesting no-motion update"); + return true; +} + +bool +AmclNode::setMapCallback(nav_msgs::SetMap::Request& req, + nav_msgs::SetMap::Response& res) +{ + handleMapMessage(req.map); + handleInitialPoseMessage(req.initial_pose); + res.success = true; + return true; +} + +void +AmclNode::laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan) +{ + std::string laser_scan_frame_id = stripSlash(laser_scan->header.frame_id); + last_laser_received_ts_ = ros::Time::now(); + if( map_ == NULL ) { + return; + } + boost::recursive_mutex::scoped_lock lr(configuration_mutex_); + int laser_index = -1; + + // Do we have the base->base_laser Tx yet? + if(frame_to_laser_.find(laser_scan_frame_id) == frame_to_laser_.end()) + { + ROS_DEBUG("Setting up laser %d (frame_id=%s)\n", (int)frame_to_laser_.size(), laser_scan_frame_id.c_str()); + lasers_.push_back(new AMCLLaser(*laser_)); + lasers_update_.push_back(true); + laser_index = frame_to_laser_.size(); + + geometry_msgs::PoseStamped ident; + ident.header.frame_id = laser_scan_frame_id; + ident.header.stamp = ros::Time(); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped laser_pose; + try + { + this->tf_->transform(ident, laser_pose, base_frame_id_); + } + catch(tf2::TransformException& e) + { + ROS_ERROR("Couldn't transform from %s to %s, " + "even though the message notifier is in use", + laser_scan_frame_id.c_str(), + base_frame_id_.c_str()); + return; + } + + pf_vector_t laser_pose_v; + laser_pose_v.v[0] = laser_pose.pose.position.x; + laser_pose_v.v[1] = laser_pose.pose.position.y; + // laser mounting angle gets computed later -> set to 0 here! + laser_pose_v.v[2] = 0; + lasers_[laser_index]->SetLaserPose(laser_pose_v); + ROS_DEBUG("Received laser's pose wrt robot: %.3f %.3f %.3f", + laser_pose_v.v[0], + laser_pose_v.v[1], + laser_pose_v.v[2]); + + frame_to_laser_[laser_scan_frame_id] = laser_index; + } else { + // we have the laser pose, retrieve laser index + laser_index = frame_to_laser_[laser_scan_frame_id]; + } + + // Where was the robot when this scan was taken? + pf_vector_t pose; + if(!getOdomPose(latest_odom_pose_, pose.v[0], pose.v[1], pose.v[2], + laser_scan->header.stamp, base_frame_id_)) + { + ROS_ERROR("Couldn't determine robot's pose associated with laser scan"); + return; + } + + + pf_vector_t delta = pf_vector_zero(); + + if(pf_init_) + { + // Compute change in pose + //delta = pf_vector_coord_sub(pose, pf_odom_pose_); + delta.v[0] = pose.v[0] - pf_odom_pose_.v[0]; + delta.v[1] = pose.v[1] - pf_odom_pose_.v[1]; + delta.v[2] = angle_diff(pose.v[2], pf_odom_pose_.v[2]); + + // See if we should update the filter + bool update = fabs(delta.v[0]) > d_thresh_ || + fabs(delta.v[1]) > d_thresh_ || + fabs(delta.v[2]) > a_thresh_; + update = update || m_force_update; + m_force_update=false; + + // Set the laser update flags + if(update) + for(unsigned int i=0; i < lasers_update_.size(); i++) + lasers_update_[i] = true; + } + + bool force_publication = false; + if(!pf_init_) + { + // Pose at last filter update + pf_odom_pose_ = pose; + + // Filter is now initialized + pf_init_ = true; + + // Should update sensor data + for(unsigned int i=0; i < lasers_update_.size(); i++) + lasers_update_[i] = true; + + force_publication = true; + + resample_count_ = 0; + } + // If the robot has moved, update the filter + else if(pf_init_ && lasers_update_[laser_index]) + { + //printf("pose\n"); + //pf_vector_fprintf(pose, stdout, "%.3f"); + + AMCLOdomData odata; + odata.pose = pose; + // HACK + // Modify the delta in the action data so the filter gets + // updated correctly + odata.delta = delta; + + // Use the action data to update the filter + odom_->UpdateAction(pf_, (AMCLSensorData*)&odata); + + // Pose at last filter update + //this->pf_odom_pose = pose; + } + + bool resampled = false; + // If the robot has moved, update the filter + if(lasers_update_[laser_index]) + { + AMCLLaserData ldata; + ldata.sensor = lasers_[laser_index]; + ldata.range_count = laser_scan->ranges.size(); + + // To account for lasers that are mounted upside-down, we determine the + // min, max, and increment angles of the laser in the base frame. + // + // Construct min and max angles of laser, in the base_link frame. + tf2::Quaternion q; + q.setRPY(0.0, 0.0, laser_scan->angle_min); + geometry_msgs::QuaternionStamped min_q, inc_q; + min_q.header.stamp = laser_scan->header.stamp; + min_q.header.frame_id = stripSlash(laser_scan->header.frame_id); + tf2::convert(q, min_q.quaternion); + + q.setRPY(0.0, 0.0, laser_scan->angle_min + laser_scan->angle_increment); + inc_q.header = min_q.header; + tf2::convert(q, inc_q.quaternion); + try + { + tf_->transform(min_q, min_q, base_frame_id_); + tf_->transform(inc_q, inc_q, base_frame_id_); + } + catch(tf2::TransformException& e) + { + ROS_WARN("Unable to transform min/max laser angles into base frame: %s", + e.what()); + return; + } + + double angle_min = tf2::getYaw(min_q.quaternion); + double angle_increment = tf2::getYaw(inc_q.quaternion) - angle_min; + + // wrapping angle to [-pi .. pi] + angle_increment = fmod(angle_increment + 5*M_PI, 2*M_PI) - M_PI; + + ROS_DEBUG("Laser %d angles in base frame: min: %.3f inc: %.3f", laser_index, angle_min, angle_increment); + + // Apply range min/max thresholds, if the user supplied them + if(laser_max_range_ > 0.0) + ldata.range_max = std::min(laser_scan->range_max, (float)laser_max_range_); + else + ldata.range_max = laser_scan->range_max; + double range_min; + if(laser_min_range_ > 0.0) + range_min = std::max(laser_scan->range_min, (float)laser_min_range_); + else + range_min = laser_scan->range_min; + + if(ldata.range_max <= 0.0 || range_min < 0.0) { + ROS_ERROR("range_max or range_min from laser is negative! ignore this message."); + return; // ignore this. + } + + // The AMCLLaserData destructor will free this memory + ldata.ranges = new double[ldata.range_count][2]; + ROS_ASSERT(ldata.ranges); + for(int i=0;iranges[i] <= range_min) + ldata.ranges[i][0] = ldata.range_max; + else if(laser_scan->ranges[i] > ldata.range_max) + ldata.ranges[i][0] = std::numeric_limits::max(); + else + ldata.ranges[i][0] = laser_scan->ranges[i]; + // Compute bearing + ldata.ranges[i][1] = angle_min + + (i * angle_increment); + } + + lasers_[laser_index]->UpdateSensor(pf_, (AMCLSensorData*)&ldata); + + lasers_update_[laser_index] = false; + + pf_odom_pose_ = pose; + + // Resample the particles + if(!(++resample_count_ % resample_interval_)) + { + pf_update_resample(pf_); + resampled = true; + } + + pf_sample_set_t* set = pf_->sets + pf_->current_set; + ROS_DEBUG("Num samples: %d\n", set->sample_count); + + // Publish the resulting cloud + // TODO: set maximum rate for publishing + if (!m_force_update) + { + geometry_msgs::PoseArray cloud_msg; + cloud_msg.header.stamp = ros::Time::now(); + cloud_msg.header.frame_id = global_frame_id_; + cloud_msg.poses.resize(set->sample_count); + for(int i=0;isample_count;i++) + { + cloud_msg.poses[i].position.x = set->samples[i].pose.v[0]; + cloud_msg.poses[i].position.y = set->samples[i].pose.v[1]; + cloud_msg.poses[i].position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, set->samples[i].pose.v[2]); + tf2::convert(q, cloud_msg.poses[i].orientation); + } + particlecloud_pub_.publish(cloud_msg); + } + } + + if(resampled || force_publication) + { + // Read out the current hypotheses + double max_weight = 0.0; + int max_weight_hyp = -1; + std::vector hyps; + hyps.resize(pf_->sets[pf_->current_set].cluster_count); + for(int hyp_count = 0; + hyp_count < pf_->sets[pf_->current_set].cluster_count; hyp_count++) + { + double weight; + pf_vector_t pose_mean; + pf_matrix_t pose_cov; + if (!pf_get_cluster_stats(pf_, hyp_count, &weight, &pose_mean, &pose_cov)) + { + ROS_ERROR("Couldn't get stats on cluster %d", hyp_count); + break; + } + + hyps[hyp_count].weight = weight; + hyps[hyp_count].pf_pose_mean = pose_mean; + hyps[hyp_count].pf_pose_cov = pose_cov; + + if(hyps[hyp_count].weight > max_weight) + { + max_weight = hyps[hyp_count].weight; + max_weight_hyp = hyp_count; + } + } + + if(max_weight > 0.0) + { + ROS_DEBUG("Max weight pose: %.3f %.3f %.3f", + hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + hyps[max_weight_hyp].pf_pose_mean.v[2]); + + /* + puts(""); + pf_matrix_fprintf(hyps[max_weight_hyp].pf_pose_cov, stdout, "%6.3f"); + puts(""); + */ + + geometry_msgs::PoseWithCovarianceStamped p; + // Fill in the header + p.header.frame_id = global_frame_id_; + p.header.stamp = laser_scan->header.stamp; + // Copy in the pose + p.pose.pose.position.x = hyps[max_weight_hyp].pf_pose_mean.v[0]; + p.pose.pose.position.y = hyps[max_weight_hyp].pf_pose_mean.v[1]; + + tf2::Quaternion q; + q.setRPY(0, 0, hyps[max_weight_hyp].pf_pose_mean.v[2]); + tf2::convert(q, p.pose.pose.orientation); + // Copy in the covariance, converting from 3-D to 6-D + pf_sample_set_t* set = pf_->sets + pf_->current_set; + for(int i=0; i<2; i++) + { + for(int j=0; j<2; j++) + { + // Report the overall filter covariance, rather than the + // covariance for the highest-weight cluster + //p.covariance[6*i+j] = hyps[max_weight_hyp].pf_pose_cov.m[i][j]; + p.pose.covariance[6*i+j] = set->cov.m[i][j]; + } + } + // Report the overall filter covariance, rather than the + // covariance for the highest-weight cluster + //p.covariance[6*5+5] = hyps[max_weight_hyp].pf_pose_cov.m[2][2]; + p.pose.covariance[6*5+5] = set->cov.m[2][2]; + + /* + printf("cov:\n"); + for(int i=0; i<6; i++) + { + for(int j=0; j<6; j++) + printf("%6.3f ", p.covariance[6*i+j]); + puts(""); + } + */ + + pose_pub_.publish(p); + last_published_pose = p; + + ROS_DEBUG("New pose: %6.3f %6.3f %6.3f", + hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + hyps[max_weight_hyp].pf_pose_mean.v[2]); + + // subtracting base to odom from map to base and send map to odom instead + geometry_msgs::PoseStamped odom_to_map; + try + { + tf2::Quaternion q; + q.setRPY(0, 0, hyps[max_weight_hyp].pf_pose_mean.v[2]); + tf2::Transform tmp_tf(q, tf2::Vector3(hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + 0.0)); + + geometry_msgs::PoseStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = base_frame_id_; + tmp_tf_stamped.header.stamp = laser_scan->header.stamp; + tf2::toMsg(tmp_tf.inverse(), tmp_tf_stamped.pose); + + this->tf_->transform(tmp_tf_stamped, odom_to_map, odom_frame_id_); + } + catch(tf2::TransformException) + { + ROS_DEBUG("Failed to subtract base to odom transform"); + return; + } + + tf2::convert(odom_to_map.pose, latest_tf_); + latest_tf_valid_ = true; + + if (tf_broadcast_ == true) + { + // We want to send a transform that is good up until a + // tolerance time so that odom can be used + ros::Time transform_expiration = (laser_scan->header.stamp + + transform_tolerance_); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + + this->tfb_->sendTransform(tmp_tf_stamped); + sent_first_transform_ = true; + } + } + else + { + ROS_ERROR("No pose!"); + } + } + else if(latest_tf_valid_) + { + if (tf_broadcast_ == true) + { + // Nothing changed, so we'll just republish the last transform, to keep + // everybody happy. + ros::Time transform_expiration = (laser_scan->header.stamp + + transform_tolerance_); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + this->tfb_->sendTransform(tmp_tf_stamped); + } + + // Is it time to save our last pose to the param server + ros::Time now = ros::Time::now(); + if((save_pose_period.toSec() > 0.0) && + (now - save_pose_last_time) >= save_pose_period) + { + this->savePoseToServer(); + save_pose_last_time = now; + } + } + + diagnosic_updater_.update(); +} + +void +AmclNode::initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) +{ + handleInitialPoseMessage(*msg); +} + +void +AmclNode::handleInitialPoseMessage(const geometry_msgs::PoseWithCovarianceStamped& msg) +{ + boost::recursive_mutex::scoped_lock prl(configuration_mutex_); + if(msg.header.frame_id == "") + { + // This should be removed at some point + ROS_WARN("Received initial pose with empty frame_id. You should always supply a frame_id."); + } + // We only accept initial pose estimates in the global frame, #5148. + else if(stripSlash(msg.header.frame_id) != global_frame_id_) + { + ROS_WARN("Ignoring initial pose in frame \"%s\"; initial poses must be in the global frame, \"%s\"", + stripSlash(msg.header.frame_id).c_str(), + global_frame_id_.c_str()); + return; + } + + // In case the client sent us a pose estimate in the past, integrate the + // intervening odometric change. + geometry_msgs::TransformStamped tx_odom; + try + { + ros::Time now = ros::Time::now(); + // wait a little for the latest tf to become available + tx_odom = tf_->lookupTransform(base_frame_id_, msg.header.stamp, + base_frame_id_, ros::Time::now(), + odom_frame_id_, ros::Duration(0.5)); + } + catch(tf2::TransformException e) + { + // If we've never sent a transform, then this is normal, because the + // global_frame_id_ frame doesn't exist. We only care about in-time + // transformation for on-the-move pose-setting, so ignoring this + // startup condition doesn't really cost us anything. + if(sent_first_transform_) + ROS_WARN("Failed to transform initial pose in time (%s)", e.what()); + tf2::convert(tf2::Transform::getIdentity(), tx_odom.transform); + } + + tf2::Transform tx_odom_tf2; + tf2::convert(tx_odom.transform, tx_odom_tf2); + tf2::Transform pose_old, pose_new; + tf2::convert(msg.pose.pose, pose_old); + pose_new = pose_old * tx_odom_tf2; + + // Transform into the global frame + + ROS_INFO("Setting pose (%.6f): %.3f %.3f %.3f", + ros::Time::now().toSec(), + pose_new.getOrigin().x(), + pose_new.getOrigin().y(), + tf2::getYaw(pose_new.getRotation())); + // Re-initialize the filter + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = pose_new.getOrigin().x(); + pf_init_pose_mean.v[1] = pose_new.getOrigin().y(); + pf_init_pose_mean.v[2] = tf2::getYaw(pose_new.getRotation()); + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + // Copy in the covariance, converting from 6-D to 3-D + for(int i=0; i<2; i++) + { + for(int j=0; j<2; j++) + { + pf_init_pose_cov.m[i][j] = msg.pose.covariance[6*i+j]; + } + } + pf_init_pose_cov.m[2][2] = msg.pose.covariance[6*5+5]; + + delete initial_pose_hyp_; + initial_pose_hyp_ = new amcl_hyp_t(); + initial_pose_hyp_->pf_pose_mean = pf_init_pose_mean; + initial_pose_hyp_->pf_pose_cov = pf_init_pose_cov; + applyInitialPose(); +} + +/** + * If initial_pose_hyp_ and map_ are both non-null, apply the initial + * pose to the particle filter state. initial_pose_hyp_ is deleted + * and set to NULL after it is used. + */ +void +AmclNode::applyInitialPose() +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + if( initial_pose_hyp_ != NULL && map_ != NULL ) { + pf_init(pf_, initial_pose_hyp_->pf_pose_mean, initial_pose_hyp_->pf_pose_cov); + pf_init_ = false; + + delete initial_pose_hyp_; + initial_pose_hyp_ = NULL; + } +} + +void +AmclNode::standardDeviationDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& diagnostic_status) +{ + double std_x = sqrt(last_published_pose.pose.covariance[6*0+0]); + double std_y = sqrt(last_published_pose.pose.covariance[6*1+1]); + double std_yaw = sqrt(last_published_pose.pose.covariance[6*5+5]); + + diagnostic_status.add("std_x", std_x); + diagnostic_status.add("std_y", std_y); + diagnostic_status.add("std_yaw", std_yaw); + diagnostic_status.add("std_warn_level_x", std_warn_level_x_); + diagnostic_status.add("std_warn_level_y", std_warn_level_y_); + diagnostic_status.add("std_warn_level_yaw", std_warn_level_yaw_); + + if (std_x > std_warn_level_x_ || std_y > std_warn_level_y_ || std_yaw > std_warn_level_yaw_) + { + diagnostic_status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Too large"); + } + else + { + diagnostic_status.summary(diagnostic_msgs::DiagnosticStatus::OK, "OK"); + } +} diff --git a/src/navigation/amcl/src/include/portable_utils.hpp b/src/navigation/amcl/src/include/portable_utils.hpp new file mode 100644 index 0000000..8570393 --- /dev/null +++ b/src/navigation/amcl/src/include/portable_utils.hpp @@ -0,0 +1,28 @@ +#ifndef PORTABLE_UTILS_H +#define PORTABLE_UTILS_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef HAVE_DRAND48 +// Some system (e.g., Windows) doesn't come with drand48(), srand48(). +// Use rand, and srand for such system. +static double drand48(void) +{ + return ((double)rand())/RAND_MAX; +} + +static void srand48(long int seedval) +{ + srand(seedval); +} +#endif + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/src/navigation/amcl/test/basic_localization.py b/src/navigation/amcl/test/basic_localization.py new file mode 100755 index 0000000..4f5fa4a --- /dev/null +++ b/src/navigation/amcl/test/basic_localization.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import sys +import time +from math import fmod, pi + +import unittest +import rospy +import rostest + +import tf2_py as tf2 +import tf2_ros +import PyKDL +from std_srvs.srv import Empty + + +class TestBasicLocalization(unittest.TestCase): + def setUp(self): + self.tf = None + self.target_x = None + self.target_y = None + self.target_a = None + self.tfBuffer = None + + def print_pose_diff(self): + a_curr = self.compute_angle() + a_diff = self.wrap_angle(a_curr - self.target_a) + print('Curr:\t %16.6f %16.6f %16.6f' % (self.tf.translation.x, self.tf.translation.y, a_curr)) + print('Target:\t %16.6f %16.6f %16.6f' % (self.target_x, self.target_y, self.target_a)) + print('Diff:\t %16.6f %16.6f %16.6f' % ( + abs(self.tf.translation.x - self.target_x), abs(self.tf.translation.y - self.target_y), a_diff)) + + def get_pose(self): + try: + tf_stamped = self.tfBuffer.lookup_transform("map", "base_link", rospy.Time()) + self.tf = tf_stamped.transform + self.print_pose_diff() + except (tf2.LookupException, tf2.ExtrapolationException): + pass + + @staticmethod + def wrap_angle(angle): + """ + Wrap angle to [-pi, pi) + :param angle: Angle to be wrapped + :return: wrapped angle + """ + angle += pi + while angle < 0: + angle += 2*pi + return fmod(angle, 2*pi) - pi + + def compute_angle(self): + rot = self.tf.rotation + a_curr = PyKDL.Rotation.Quaternion(rot.x, rot.y, rot.z, rot.w).GetRPY()[2] + a_diff = self.wrap_angle(a_curr - self.target_a) + return self.target_a + a_diff + + def test_basic_localization(self): + global_localization = int(sys.argv[1]) + self.target_x = float(sys.argv[2]) + self.target_y = float(sys.argv[3]) + self.target_a = self.wrap_angle(float(sys.argv[4])) + tolerance_d = float(sys.argv[5]) + tolerance_a = float(sys.argv[6]) + target_time = float(sys.argv[7]) + + rospy.init_node('test', anonymous=True) + while rospy.rostime.get_time() == 0.0: + print('Waiting for initial time publication') + time.sleep(0.1) + + if global_localization == 1: + print('Waiting for service global_localization') + rospy.wait_for_service('global_localization') + global_localization = rospy.ServiceProxy('global_localization', Empty) + global_localization() + + start_time = rospy.rostime.get_time() + self.tfBuffer = tf2_ros.Buffer() + listener = tf2_ros.TransformListener(self.tfBuffer) + + while (rospy.rostime.get_time() - start_time) < target_time: + print('Waiting for end time %.6f (current: %.6f)' % (target_time, (rospy.rostime.get_time() - start_time))) + self.get_pose() + time.sleep(0.1) + + print("Final pose:") + self.get_pose() + a_curr = self.compute_angle() + + self.assertNotEqual(self.tf, None) + self.assertAlmostEqual(self.tf.translation.x, self.target_x, delta=tolerance_d) + self.assertAlmostEqual(self.tf.translation.y, self.target_y, delta=tolerance_d) + self.assertAlmostEqual(a_curr, self.target_a, delta=tolerance_a) + + +if __name__ == '__main__': + rostest.run('amcl', 'amcl_localization', TestBasicLocalization, sys.argv) \ No newline at end of file diff --git a/src/navigation/amcl/test/basic_localization_stage.xml b/src/navigation/amcl/test/basic_localization_stage.xml new file mode 100644 index 0000000..3184121 --- /dev/null +++ b/src/navigation/amcl/test/basic_localization_stage.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/global_localization_stage.xml b/src/navigation/amcl/test/global_localization_stage.xml new file mode 100644 index 0000000..8fca2ae --- /dev/null +++ b/src/navigation/amcl/test/global_localization_stage.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/rosie_multilaser.xml b/src/navigation/amcl/test/rosie_multilaser.xml new file mode 100644 index 0000000..ade665a --- /dev/null +++ b/src/navigation/amcl/test/rosie_multilaser.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/set_initial_pose.xml b/src/navigation/amcl/test/set_initial_pose.xml new file mode 100644 index 0000000..58d8432 --- /dev/null +++ b/src/navigation/amcl/test/set_initial_pose.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/set_initial_pose_delayed.xml b/src/navigation/amcl/test/set_initial_pose_delayed.xml new file mode 100644 index 0000000..cae2ec3 --- /dev/null +++ b/src/navigation/amcl/test/set_initial_pose_delayed.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/set_pose.py b/src/navigation/amcl/test/set_pose.py new file mode 100755 index 0000000..74592ed --- /dev/null +++ b/src/navigation/amcl/test/set_pose.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +import rospy + +import math +import PyKDL +from geometry_msgs.msg import PoseWithCovarianceStamped + + +class PoseSetter(rospy.SubscribeListener): + def __init__(self, pose, stamp, publish_time): + self.pose = pose + self.stamp = stamp + self.publish_time = publish_time + + def peer_subscribe(self, topic_name, topic_publish, peer_publish): + p = PoseWithCovarianceStamped() + p.header.frame_id = "map" + p.header.stamp = self.stamp + p.pose.pose.position.x = self.pose[0] + p.pose.pose.position.y = self.pose[1] + (p.pose.pose.orientation.x, + p.pose.pose.orientation.y, + p.pose.pose.orientation.z, + p.pose.pose.orientation.w) = PyKDL.Rotation.RPY(0, 0, self.pose[2]).GetQuaternion() + p.pose.covariance[6*0+0] = 0.5 * 0.5 + p.pose.covariance[6*1+1] = 0.5 * 0.5 + p.pose.covariance[6*3+3] = math.pi/12.0 * math.pi/12.0 + # wait for the desired publish time + while rospy.get_rostime() < self.publish_time: + rospy.sleep(0.01) + peer_publish(p) + + +if __name__ == '__main__': + pose = list(map(float, rospy.myargv()[1:4])) + t_stamp = rospy.Time() + t_publish = rospy.Time() + if len(rospy.myargv()) > 4: + t_stamp = rospy.Time.from_sec(float(rospy.myargv()[4])) + if len(rospy.myargv()) > 5: + t_publish = rospy.Time.from_sec(float(rospy.myargv()[5])) + rospy.init_node('pose_setter', anonymous=True) + rospy.loginfo("Going to publish pose {} with stamp {} at {}".format(pose, t_stamp.to_sec(), t_publish.to_sec())) + pub = rospy.Publisher("initialpose", PoseWithCovarianceStamped, PoseSetter(pose, stamp=t_stamp, publish_time=t_publish), queue_size=1) + rospy.spin() diff --git a/src/navigation/amcl/test/small_loop_crazy_driving_prg.xml b/src/navigation/amcl/test/small_loop_crazy_driving_prg.xml new file mode 100644 index 0000000..7169c1c --- /dev/null +++ b/src/navigation/amcl/test/small_loop_crazy_driving_prg.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/small_loop_crazy_driving_prg_corrected.xml b/src/navigation/amcl/test/small_loop_crazy_driving_prg_corrected.xml new file mode 100644 index 0000000..ce4f2d4 --- /dev/null +++ b/src/navigation/amcl/test/small_loop_crazy_driving_prg_corrected.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/small_loop_prf.xml b/src/navigation/amcl/test/small_loop_prf.xml new file mode 100644 index 0000000..eadbd10 --- /dev/null +++ b/src/navigation/amcl/test/small_loop_prf.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/texas_greenroom_loop.xml b/src/navigation/amcl/test/texas_greenroom_loop.xml new file mode 100644 index 0000000..7fea530 --- /dev/null +++ b/src/navigation/amcl/test/texas_greenroom_loop.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/texas_greenroom_loop_corrected.xml b/src/navigation/amcl/test/texas_greenroom_loop_corrected.xml new file mode 100644 index 0000000..90ee389 --- /dev/null +++ b/src/navigation/amcl/test/texas_greenroom_loop_corrected.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/texas_willow_hallway_loop.xml b/src/navigation/amcl/test/texas_willow_hallway_loop.xml new file mode 100644 index 0000000..c223308 --- /dev/null +++ b/src/navigation/amcl/test/texas_willow_hallway_loop.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/amcl/test/texas_willow_hallway_loop_corrected.xml b/src/navigation/amcl/test/texas_willow_hallway_loop_corrected.xml new file mode 100644 index 0000000..bd01194 --- /dev/null +++ b/src/navigation/amcl/test/texas_willow_hallway_loop_corrected.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/navigation/base_local_planner/CHANGELOG.rst b/src/navigation/base_local_planner/CHANGELOG.rst new file mode 100644 index 0000000..75f5ec4 --- /dev/null +++ b/src/navigation/base_local_planner/CHANGELOG.rst @@ -0,0 +1,201 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package base_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Commit 89a8593 removed footprint scaling. This brings it back. (`#886 `_) (`#1204 `_) + Co-authored-by: Frank Höller +* Contributors: Michael Ferguson + +1.17.1 (2020-08-27) +------------------- +* occdist_scale should not be scaled by the costmap resolution as it doesn't multiply a value that includes a distance. (`#1000 `_) +* Contributors: wjwagner + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- +* Fix Unknown CMake command check_include_file (navfn & base_local_planner) (`#975 `_) +* Contributors: Sam Pfeiffer + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Fixes gdist- and pdist_scale node paramter names (`#936 `_) + Renames goal and path distance dynamic reconfigure parameter + names in the cfg file in order to actually make the parameters + used by the trajectory planner changeable. + Fixes `#935 `_ +* don't include a main() function in base_local_planner library (`#969 `_) +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: David Leins, Sean Yen, ipa-fez + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Provide different negative values for unknown and out-of-map costs (`#833 `_) +* Merge pull request `#857 `_ from jspricke/add_include + Add missing header +* Add missing header +* [kinetic] Fix for adjusting plan resolution (`#819 `_) + * Fix for adjusting plan resolution + * Simpler math expression +* Contributors: David V. Lu!!, Jochen Sprickerhof, Jorge Santos Simón, Michael Ferguson, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* add explicit sensor_msgs, tf2 depends for base_local_planner +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove PCL `#765 `_ +* Switch to TF2 `#755 `_ +* Fix trajectory obstacle scoring in dwa_local_planner. +* Make trajectory scoring scales consistent. +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* fix param to min_in_place_vel_theta, closes `#487 `_ +* add const to getLocalPlane, fixes `#709 `_ +* Merge pull request `#732 `_ from marting87/small_typo_fixes + Small typo fixes in ftrajectory_planner_ros and robot_pose_ekf +* Fixed typos for base_local_planner +* Contributors: Alexander Moriarty, David V. Lu, Martin Ganeff, Michael Ferguson, Pavlo Kolomiiets, Rein Appeldoorn, Vincent Rabaud, moriarty + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* CostmapModel: Make lineCost and pointCost public (`#658 `_) + Make the methods `lineCost` and `pointCost` of the CostmapModel class + public so they can be used outside of the class. + Both methods are not changing the instance, so this should not cause any + problems. To emphasise their constness, add the actual `const` keyword. +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Felix Widmaier, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* set message_generation build and runtime dependency +* convert packages to format2 +* cleaner logic, fixes `#156 `_ +* Merge pull request `#596 `_ from ros-planning/lunar_548 +* Add cost function to prevent unnecessary spinning +* Fix CMakeLists + package.xmls (`#548 `_) +* add missing deps on libpcl +* import only PCL common +* pcl proagate -lQt5::Widgets flag so we need to find_package Qt5Widgets (`#578 `_) +* make rostest in CMakeLists optional (`ros/rosdistro#3010 `_) +* remove GCC warnings +* Contributors: Lukas Bulwahn, Martin Günther, Michael Ferguson, Mikael Arguedas, Morgan Quigley, Vincent Rabaud, lengly + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* base_local_planner: some fixes in goal_functions +* Merge pull request `#348 `_ from mikeferguson/trajectory_planner_fixes +* fix stuck_left/right calculation +* fix calculation of heading diff +* Contributors: Gael Ecorchard, Michael Ferguson + +1.13.0 (2015-03-17) +------------------- +* remove previously deprecated param +* Contributors: Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- +* Fixed setting child_frame_id in base_local_planner::OdometryHelperRos +* Contributors: Mani Monajjemi + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Bugfix uninitialised occ_cost variable usage + This fixes `#256 `_. +* base_local_planner: adds waitForTransform +* Fixed issue causing trajectory planner returning false to isGoalReach ed even when it's control thread finishes executing +* Contributors: Daniel Stonier, Marcus Liebhardt, hes3pal + +1.11.11 (2014-07-23) +-------------------- +* Minor code cleanup +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* renames acc_lim_th to acc_lim_theta, add warning if using acc_lim_th +* uses odom child_frame_id to set robot_vel frame_id +* Contributors: David Lu!!, Michael Ferguson, Enrique Fernández Perdomo + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* No need to use `limits->` +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* fixes latch_xy_goal_tolerance param not taken +* update build to find eigen using cmake_modules +* Trajectory: fix constness of getter methods +* Use hypot() instead of sqrt(x*x, y*y) +* Fix bug in distance calculation for trajectory rollout +* Some documentation fixes in SimpleTrajectoryGenerator +* Contributors: Michael Ferguson, Siegfried-A. Gevatter Pujals, enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Merge pull request `#152 `_ from KaijenHsiao/hydro-devel + uncommented trajectory_planner_ros from catkin_package LIBRARIES so other packages can find it +* Fix negative score bug, add ability to sum scores +* Ignore pyc files from running in devel +* Correct type of prefer_forward penalty member variable +* uncommented trajectory_planner_ros from catkin_package LIBRARIES so other packages can find it +* Better handling of frame param in MapGridVisualizer +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Changed new Odom-Helper::initialize() function to setOdomTopic(). +* Converted to a pointcloud pointer in Observation in more places. diff --git a/src/navigation/base_local_planner/CMakeLists.txt b/src/navigation/base_local_planner/CMakeLists.txt new file mode 100644 index 0000000..b942aac --- /dev/null +++ b/src/navigation/base_local_planner/CMakeLists.txt @@ -0,0 +1,165 @@ +cmake_minimum_required(VERSION 3.0.2) +project(base_local_planner) + +include(CheckIncludeFile) + +find_package(catkin REQUIRED + COMPONENTS + angles + cmake_modules + costmap_2d + dynamic_reconfigure + geometry_msgs + message_generation + nav_core + nav_msgs + pluginlib + roscpp + rospy + sensor_msgs + std_msgs + tf2 + tf2_geometry_msgs + tf2_ros + voxel_grid + ) + +find_package(Boost REQUIRED + COMPONENTS + thread + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_python_setup() + +# messages +add_message_files( + DIRECTORY msg + FILES + Position2DInt.msg +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/BaseLocalPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES + base_local_planner + trajectory_planner_ros + CATKIN_DEPENDS + angles + costmap_2d + dynamic_reconfigure + geometry_msgs + message_runtime + nav_core + nav_msgs + pluginlib + roscpp + sensor_msgs + std_msgs + tf2 + tf2_ros + voxel_grid +) + +check_include_file(sys/time.h HAVE_SYS_TIME_H) +if (HAVE_SYS_TIME_H) + add_definitions(-DHAVE_SYS_TIME_H) +endif (HAVE_SYS_TIME_H) + +#uncomment for profiling +#set(ROS_COMPILE_FLAGS "-g -pg" ${ROS_COMPILE_FLAGS}) +#set(ROS_LINK_FLAGS "-g -pg" ${ROS_LINK_FLAGS}) +#set(ROS_COMPILE_FLAGS "-g" ${ROS_COMPILE_FLAGS}) +#set(ROS_LINK_FLAGS "-g" ${ROS_LINK_FLAGS}) + +add_library(base_local_planner + src/footprint_helper.cpp + src/goal_functions.cpp + src/map_cell.cpp + src/map_grid.cpp + src/map_grid_visualizer.cpp + src/map_grid_cost_function.cpp + src/latched_stop_rotate_controller.cpp + src/local_planner_util.cpp + src/odometry_helper_ros.cpp + src/obstacle_cost_function.cpp + src/oscillation_cost_function.cpp + src/prefer_forward_cost_function.cpp + src/point_grid.cpp + src/costmap_model.cpp + src/simple_scored_sampling_planner.cpp + src/simple_trajectory_generator.cpp + src/trajectory.cpp + src/twirling_cost_function.cpp + src/voxel_grid_model.cpp) +add_dependencies(base_local_planner base_local_planner_gencfg) +add_dependencies(base_local_planner base_local_planner_generate_messages_cpp) +add_dependencies(base_local_planner nav_msgs_generate_messages_cpp) +target_link_libraries(base_local_planner + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ${Eigen_LIBRARIES} + ) + +add_library(trajectory_planner_ros + src/trajectory_planner.cpp + src/trajectory_planner_ros.cpp) +add_dependencies(trajectory_planner_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(trajectory_planner_ros + base_local_planner) + +add_executable(point_grid src/point_grid_node.cpp) +add_dependencies(point_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(point_grid ${catkin_LIBRARIES} base_local_planner) + +install(TARGETS + base_local_planner + trajectory_planner_ros + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES blp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest) + catkin_add_gtest(base_local_planner_utest + test/gtest_main.cpp + test/utest.cpp + test/velocity_iterator_test.cpp + test/footprint_helper_test.cpp + test/trajectory_generator_test.cpp + test/map_grid_test.cpp) + target_link_libraries(base_local_planner_utest + base_local_planner trajectory_planner_ros + ) + + catkin_add_gtest(line_iterator + test/line_iterator_test.cpp) +endif() diff --git a/src/navigation/base_local_planner/blp_plugin.xml b/src/navigation/base_local_planner/blp_plugin.xml new file mode 100644 index 0000000..ed0175a --- /dev/null +++ b/src/navigation/base_local_planner/blp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a local planner using either a DWA or Trajectory Rollout approach based on configuration parameters. + + + diff --git a/src/navigation/base_local_planner/cfg/BaseLocalPlanner.cfg b/src/navigation/base_local_planner/cfg/BaseLocalPlanner.cfg new file mode 100755 index 0000000..fcb7b3d --- /dev/null +++ b/src/navigation/base_local_planner/cfg/BaseLocalPlanner.cfg @@ -0,0 +1,57 @@ +#!/usr/bin/env python + +PACKAGE = 'base_local_planner' + +from math import pi + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, bool_t, str_t + +gen = ParameterGenerator() + +# gen.add("inscribed_radius", double_t, 0, "The radius of the inscribed circle of the robot", 1, 0) +# gen.add("circumscribed_radius", double_t, 0, "The radius of the circumscribed circle of the robot", 1, 0) + +gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0) +gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0) +gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0) + +gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55, 0, 20.0) +gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0, 0, 20.0) + +gen.add("max_vel_theta", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", 1.0, 0, 20.0) +gen.add("min_vel_theta", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", -1.0, -20.0, 0.0) +gen.add("min_in_place_vel_theta", double_t, 0, "The absolute value of the minimum in-place rotational velocity the controller will explore", 0.4, 0, 20.0) + +gen.add("sim_time", double_t, 0, "The amount of time to roll trajectories out for in seconds", 1.7, 0, 10) +gen.add("sim_granularity", double_t, 0, "The granularity with which to check for collisions along each trajectory in meters", 0.025, 0, 5) +gen.add("angular_sim_granularity", double_t, 0, "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", 0.025, 0, pi/2) + +gen.add("path_distance_bias", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0, 5) +gen.add("goal_distance_bias", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0, 5) +gen.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.01, 0, 5) + +gen.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0, 5) +gen.add("escape_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.10, 0, 5) +gen.add("escape_reset_theta", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", pi/2, 0, 5) + +gen.add("vx_samples", int_t, 0, "The number of samples to use when exploring the x velocity space", 20, 1, 300) +gen.add("vtheta_samples", int_t, 0, "The number of samples to use when exploring the theta velocity space", 20, 1, 300) + +gen.add("heading_lookahead", double_t, 0, "How far the robot should look ahead of itself when differentiating between different rotational velocities", 0.325, 0, 5) + +gen.add("holonomic_robot", bool_t, 0, "Set this to true if the robot being controlled can take y velocities and false otherwise", True) + +gen.add("escape_vel", double_t, 0, "The velocity to use while backing up", -0.1, -2, 2) + +gen.add("dwa", bool_t, 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", False) + +gen.add("heading_scoring", bool_t, 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", False) +gen.add("heading_scoring_timestep", double_t, 0, "How far to look ahead in time when we score heading based trajectories", 0.1, 0, 1) + +gen.add("simple_attractor", bool_t, 0, "Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation", False) + +gen.add("y_vels", str_t, 0, "A comma delimited list of the y velocities the controller will explore", "-0.3,-0.1,0.1,-0.3") + +gen.add("restore_defaults", bool_t, 0, "Retore to the default configuration", False) + +exit(gen.generate(PACKAGE, "base_local_planner", "BaseLocalPlanner")) diff --git a/src/navigation/base_local_planner/cfg/LocalPlannerLimits.cfg b/src/navigation/base_local_planner/cfg/LocalPlannerLimits.cfg new file mode 100755 index 0000000..954982e --- /dev/null +++ b/src/navigation/base_local_planner/cfg/LocalPlannerLimits.cfg @@ -0,0 +1,10 @@ +#!/usr/bin/env python +# Generic Local Planner configuration + +# from dynamic_reconfigure.parameter_generator_catkin import * + + +# if __name__ == "__main__": +# gen = ParameterGenerator() +# add_generic_localplanner_params(gen) +# exit(gen.generate(PACKAGE, "base_local_planner", "LocalPlannerLimits")) diff --git a/src/navigation/base_local_planner/include/base_local_planner/costmap_model.h b/src/navigation/base_local_planner/include/base_local_planner/costmap_model.h new file mode 100644 index 0000000..21586b8 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/costmap_model.h @@ -0,0 +1,102 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ +#define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ + +#include +// For obstacle data access +#include + +namespace base_local_planner { + /** + * @class CostmapModel + * @brief A class that implements the WorldModel interface to provide grid + * based collision checks for the trajectory controller using the costmap. + */ + class CostmapModel : public WorldModel { + public: + /** + * @brief Constructor for the CostmapModel + * @param costmap The costmap that should be used + * @return + */ + CostmapModel(const costmap_2d::Costmap2D& costmap); + + /** + * @brief Destructor for the world model + */ + virtual ~CostmapModel(){} + using WorldModel::footprintCost; + + /** + * @brief Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise: + * -1 if footprint covers at least a lethal obstacle cell, or + * -2 if footprint covers at least a no-information cell, or + * -3 if footprint is [partially] outside of the map + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + /** + * @brief Rasterizes a line in the costmap grid and checks for collisions + * @param x0 The x position of the first cell in grid coordinates + * @param y0 The y position of the first cell in grid coordinates + * @param x1 The x position of the second cell in grid coordinates + * @param y1 The y position of the second cell in grid coordinates + * @return A positive cost for a legal line... negative otherwise + */ + double lineCost(int x0, int x1, int y0, int y1) const; + + /** + * @brief Checks the cost of a point in the costmap + * @param x The x position of the point in cell coordinates + * @param y The y position of the point in cell coordinates + * @return A positive cost for a legal point... negative otherwise + */ + double pointCost(int x, int y) const; + + private: + const costmap_2d::Costmap2D& costmap_; ///< @brief Allows access of costmap obstacle information + + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/footprint_helper.h b/src/navigation/base_local_planner/include/base_local_planner/footprint_helper.h new file mode 100644 index 0000000..9f47ebc --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/footprint_helper.h @@ -0,0 +1,87 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef FOOTPRINT_HELPER_H_ +#define FOOTPRINT_HELPER_H_ + +#include + +#include +#include +#include +#include + +namespace base_local_planner { + +class FootprintHelper { +public: + FootprintHelper(); + virtual ~FootprintHelper(); + + /** + * @brief Used to get the cells that make up the footprint of the robot + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @param fill If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint. + * @return The cells that make up either the outline or entire footprint of the robot depending on fill + */ + std::vector getFootprintCells( + Eigen::Vector3f pos, + std::vector footprint_spec, + const costmap_2d::Costmap2D&, + bool fill); + + /** + * @brief Use Bresenham's algorithm to trace a line between two points in a grid + * @param x0 The x coordinate of the first point + * @param x1 The x coordinate of the second point + * @param y0 The y coordinate of the first point + * @param y1 The y coordinate of the second point + * @param pts Will be filled with the cells that lie on the line in the grid + */ + void getLineCells(int x0, int x1, int y0, int y1, std::vector& pts); + + /** + * @brief Fill the outline of a polygon, in this case the robot footprint, in a grid + * @param footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint + */ + void getFillCells(std::vector& footprint); +}; + +} /* namespace base_local_planner */ +#endif /* FOOTPRINT_HELPER_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/goal_functions.h b/src/navigation/base_local_planner/include/base_local_planner/goal_functions.h new file mode 100644 index 0000000..c873555 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/goal_functions.h @@ -0,0 +1,153 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_ +#define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace base_local_planner { + + /** + * @brief return squared distance to check if the goal position has been achieved + * @param global_pose The pose of the robot in the global frame + * @param goal_x The desired x value for the goal + * @param goal_y The desired y value for the goal + * @return distance to goal + */ + double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y); + + /** + * @brief return angle difference to goal to check if the goal orientation has been achieved + * @param global_pose The pose of the robot in the global frame + * @param goal_x The desired x value for the goal + * @param goal_y The desired y value for the goal + * @return angular difference + */ + double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th); + + /** + * @brief Publish a plan for visualization purposes + * @param path The plan to publish + * @param pub The published to use + * @param r,g,b,a The color and alpha value to use when publishing + */ + void publishPlan(const std::vector& path, const ros::Publisher& pub); + + /** + * @brief Trim off parts of the global plan that are far enough behind the robot + * @param global_pose The pose of the robot in the global frame + * @param plan The plan to be pruned + * @param global_plan The plan to be pruned in the frame of the planner + */ + void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector& plan, std::vector& global_plan); + + /** + * @brief Transforms the global plan of the robot from the planner frame to the frame of the costmap, + * selects only the (first) part of the plan that is within the costmap area. + * @param tf A reference to a transform listener + * @param global_plan The plan to be transformed + * @param robot_pose The pose of the robot in the global frame (same as costmap) + * @param costmap A reference to the costmap being used so the window size for transforming can be computed + * @param global_frame The frame to transform the plan to + * @param transformed_plan Populated with the transformed plan + */ + bool transformGlobalPlan(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_robot_pose, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + std::vector& transformed_plan); + + /** + * @brief Returns last pose in plan + * @param tf A reference to a transform listener + * @param global_plan The plan being followed + * @param global_frame The global frame of the local planner + * @param goal_pose the pose to copy into + * @return True if achieved, false otherwise + */ + bool getGoalPose(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const std::string& global_frame, + geometry_msgs::PoseStamped &goal_pose); + + /** + * @brief Check if the goal pose has been achieved + * @param tf A reference to a transform listener + * @param global_plan The plan being followed + * @param costmap_ros A reference to the costmap object being used by the planner + * @param global_frame The global frame of the local planner + * @param base_odom The current odometry information for the robot + * @param rot_stopped_vel The rotational velocity below which the robot is considered stopped + * @param trans_stopped_vel The translational velocity below which the robot is considered stopped + * @param xy_goal_tolerance The translational tolerance on reaching the goal + * @param yaw_goal_tolerance The rotational tolerance on reaching the goal + * @return True if achieved, false otherwise + */ + bool isGoalReached(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + geometry_msgs::PoseStamped& global_pose, + const nav_msgs::Odometry& base_odom, + double rot_stopped_vel, double trans_stopped_vel, + double xy_goal_tolerance, double yaw_goal_tolerance); + + /** + * @brief Check whether the robot is stopped or not + * @param base_odom The current odometry information for the robot + * @param rot_stopped_velocity The rotational velocity below which the robot is considered stopped + * @param trans_stopped_velocity The translational velocity below which the robot is considered stopped + * @return True if the robot is stopped, false otherwise + */ + bool stopped(const nav_msgs::Odometry& base_odom, + const double& rot_stopped_velocity, + const double& trans_stopped_velocity); +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h b/src/navigation/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h new file mode 100644 index 0000000..a396b94 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h @@ -0,0 +1,93 @@ +/* + * latched_stop_rotate_controller.h + * + * Created on: Apr 16, 2012 + * Author: tkruse + */ + +#ifndef LATCHED_STOP_ROTATE_CONTROLLER_H_ +#define LATCHED_STOP_ROTATE_CONTROLLER_H_ + +#include + +#include + +#include +#include + +namespace base_local_planner { + +class LatchedStopRotateController { +public: + LatchedStopRotateController(const std::string& name = ""); + virtual ~LatchedStopRotateController(); + + bool isPositionReached(LocalPlannerUtil* planner_util, + const geometry_msgs::PoseStamped& global_pose); + + bool isGoalReached(LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose); + + void resetLatching() { + xy_tolerance_latch_ = false; + } + + /** + * @brief Stop the robot taking into account acceleration limits + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + boost::function obstacle_check); + + /** + * @brief Once a goal position is reached... rotate to the goal orientation + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param goal_th The desired th value for the goal + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool rotateToGoal(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + double goal_th, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + base_local_planner::LocalPlannerLimits& limits, + boost::function obstacle_check); + + bool computeVelocityCommandsStopRotate(geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose, + boost::function obstacle_check); + +private: + inline double sign(double x){ + return x < 0.0 ? -1.0 : 1.0; + } + + + // whether to latch at all, and whether in this turn we have already been in goal area + bool latch_xy_goal_tolerance_, xy_tolerance_latch_; + bool rotating_to_goal_; +}; + +} /* namespace base_local_planner */ +#endif /* LATCHED_STOP_ROTATE_CONTROLLER_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/line_iterator.h b/src/navigation/base_local_planner/include/base_local_planner/line_iterator.h new file mode 100644 index 0000000..c2f770e --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/line_iterator.h @@ -0,0 +1,143 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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 LINE_ITERATOR_H +#define LINE_ITERATOR_H + +#include + +namespace base_local_planner +{ + +/** An iterator implementing Bresenham Ray-Tracing. */ +class LineIterator +{ +public: + LineIterator( int x0, int y0, int x1, int y1 ) + : x0_( x0 ) + , y0_( y0 ) + , x1_( x1 ) + , y1_( y1 ) + , x_( x0 ) // X and Y start of at first endpoint. + , y_( y0 ) + , deltax_( abs( x1 - x0 )) + , deltay_( abs( y1 - y0 )) + , curpixel_( 0 ) + { + if( x1_ >= x0_ ) // The x-values are increasing + { + xinc1_ = 1; + xinc2_ = 1; + } + else // The x-values are decreasing + { + xinc1_ = -1; + xinc2_ = -1; + } + + if( y1_ >= y0_) // The y-values are increasing + { + yinc1_ = 1; + yinc2_ = 1; + } + else // The y-values are decreasing + { + yinc1_ = -1; + yinc2_ = -1; + } + + if( deltax_ >= deltay_ ) // There is at least one x-value for every y-value + { + xinc1_ = 0; // Don't change the x when numerator >= denominator + yinc2_ = 0; // Don't change the y for every iteration + den_ = deltax_; + num_ = deltax_ / 2; + numadd_ = deltay_; + numpixels_ = deltax_; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2_ = 0; // Don't change the x for every iteration + yinc1_ = 0; // Don't change the y when numerator >= denominator + den_ = deltay_; + num_ = deltay_ / 2; + numadd_ = deltax_; + numpixels_ = deltay_; // There are more y-values than x-values + } + } + + bool isValid() const + { + return curpixel_ <= numpixels_; + } + + void advance() + { + num_ += numadd_; // Increase the numerator by the top of the fraction + if( num_ >= den_ ) // Check if numerator >= denominator + { + num_ -= den_; // Calculate the new numerator value + x_ += xinc1_; // Change the x as appropriate + y_ += yinc1_; // Change the y as appropriate + } + x_ += xinc2_; // Change the x as appropriate + y_ += yinc2_; // Change the y as appropriate + + curpixel_++; + } + + int getX() const { return x_; } + int getY() const { return y_; } + + int getX0() const { return x0_; } + int getY0() const { return y0_; } + + int getX1() const { return x1_; } + int getY1() const { return y1_; } + +private: + int x0_; ///< X coordinate of first end point. + int y0_; ///< Y coordinate of first end point. + int x1_; ///< X coordinate of second end point. + int y1_; ///< Y coordinate of second end point. + + int x_; ///< X coordinate of current point. + int y_; ///< Y coordinate of current point. + + int deltax_; ///< Difference between Xs of endpoints. + int deltay_; ///< Difference between Ys of endpoints. + + int curpixel_; ///< index of current point in line loop. + + int xinc1_, xinc2_, yinc1_, yinc2_; + int den_, num_, numadd_, numpixels_; +}; + +} // end namespace base_local_planner + +#endif // LINE_ITERATOR_H diff --git a/src/navigation/base_local_planner/include/base_local_planner/local_planner_limits.h b/src/navigation/base_local_planner/include/base_local_planner/local_planner_limits.h new file mode 100644 index 0000000..d94b87d --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/local_planner_limits.h @@ -0,0 +1,121 @@ +/*********************************************************** + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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 __base_local_planner__LOCALPLANNERLIMITS_H__ +#define __base_local_planner__LOCALPLANNERLIMITS_H__ + +#include + +namespace base_local_planner +{ +class LocalPlannerLimits +{ +public: + + double max_vel_trans; + double min_vel_trans; + double max_vel_x; + double min_vel_x; + double max_vel_y; + double min_vel_y; + double max_vel_theta; + double min_vel_theta; + double acc_lim_x; + double acc_lim_y; + double acc_lim_theta; + double acc_lim_trans; + bool prune_plan; + double xy_goal_tolerance; + double yaw_goal_tolerance; + double trans_stopped_vel; + double theta_stopped_vel; + bool restore_defaults; + + LocalPlannerLimits() {} + + LocalPlannerLimits( + double nmax_vel_trans, + double nmin_vel_trans, + double nmax_vel_x, + double nmin_vel_x, + double nmax_vel_y, + double nmin_vel_y, + double nmax_vel_theta, + double nmin_vel_theta, + double nacc_lim_x, + double nacc_lim_y, + double nacc_lim_theta, + double nacc_lim_trans, + double nxy_goal_tolerance, + double nyaw_goal_tolerance, + bool nprune_plan = true, + double ntrans_stopped_vel = 0.1, + double ntheta_stopped_vel = 0.1): + max_vel_trans(nmax_vel_trans), + min_vel_trans(nmin_vel_trans), + max_vel_x(nmax_vel_x), + min_vel_x(nmin_vel_x), + max_vel_y(nmax_vel_y), + min_vel_y(nmin_vel_y), + max_vel_theta(nmax_vel_theta), + min_vel_theta(nmin_vel_theta), + acc_lim_x(nacc_lim_x), + acc_lim_y(nacc_lim_y), + acc_lim_theta(nacc_lim_theta), + acc_lim_trans(nacc_lim_trans), + prune_plan(nprune_plan), + xy_goal_tolerance(nxy_goal_tolerance), + yaw_goal_tolerance(nyaw_goal_tolerance), + trans_stopped_vel(ntrans_stopped_vel), + theta_stopped_vel(ntheta_stopped_vel) {} + + ~LocalPlannerLimits() {} + + /** + * @brief Get the acceleration limits of the robot + * @return The acceleration limits of the robot + */ + Eigen::Vector3f getAccLimits() { + Eigen::Vector3f acc_limits; + acc_limits[0] = acc_lim_x; + acc_limits[1] = acc_lim_y; + acc_limits[2] = acc_lim_theta; + return acc_limits; + } + +}; + +} +#endif // __LOCALPLANNERLIMITS_H__ diff --git a/src/navigation/base_local_planner/include/base_local_planner/local_planner_util.h b/src/navigation/base_local_planner/include/base_local_planner/local_planner_util.h new file mode 100644 index 0000000..a0dbb70 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/local_planner_util.h @@ -0,0 +1,111 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ + +#ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_ +#define ABSTRACT_LOCAL_PLANNER_ODOM_H_ + +#include + +#include + +#include +#include + +#include + + +namespace base_local_planner { + +/** + * @class LocalPlannerUtil + * @brief Helper class implementing infrastructure code many local planner implementations may need. + */ +class LocalPlannerUtil { + +private: + // things we get from move_base + std::string name_; + std::string global_frame_; + + costmap_2d::Costmap2D* costmap_; + tf2_ros::Buffer* tf_; + + + std::vector global_plan_; + + + boost::mutex limits_configuration_mutex_; + bool setup_; + LocalPlannerLimits default_limits_; + LocalPlannerLimits limits_; + bool initialized_; + +public: + + /** + * @brief Callback to update the local planner's parameters + */ + void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults); + + LocalPlannerUtil() : initialized_(false) {} + + ~LocalPlannerUtil() { + } + + void initialize(tf2_ros::Buffer* tf, + costmap_2d::Costmap2D* costmap, + std::string global_frame); + + bool getGoal(geometry_msgs::PoseStamped& goal_pose); + + bool setPlan(const std::vector& orig_global_plan); + + bool getLocalPlan(const geometry_msgs::PoseStamped& global_pose, std::vector& transformed_plan); + + costmap_2d::Costmap2D* getCostmap(); + + LocalPlannerLimits getCurrentLimits(); + + std::string getGlobalFrame(){ return global_frame_; } +}; + + + + +}; + +#endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/map_cell.h b/src/navigation/base_local_planner/include/base_local_planner/map_cell.h new file mode 100644 index 0000000..6bb797b --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/map_cell.h @@ -0,0 +1,67 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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 TRAJECTORY_ROLLOUT_MAP_CELL_H_ +#define TRAJECTORY_ROLLOUT_MAP_CELL_H_ + +#include + +namespace base_local_planner { + /** + * @class MapCell + * @brief Stores path distance and goal distance information used for scoring trajectories + */ + class MapCell{ + public: + /** + * @brief Default constructor + */ + MapCell(); + + /** + * @brief Copy constructor + * @param mc The MapCell to be copied + */ + MapCell(const MapCell& mc); + + unsigned int cx, cy; ///< @brief Cell index in the grid map + + double target_dist; ///< @brief Distance to planner's path + + bool target_mark; ///< @brief Marks for computing path/goal distances + + bool within_robot; ///< @brief Mark for cells within the robot footprint + }; +}; + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/map_grid.h b/src/navigation/base_local_planner/include/base_local_planner/map_grid.h new file mode 100644 index 0000000..05239b2 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/map_grid.h @@ -0,0 +1,200 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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 TRAJECTORY_ROLLOUT_MAP_GRID_H_ +#define TRAJECTORY_ROLLOUT_MAP_GRID_H_ + +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace base_local_planner{ + /** + * @class MapGrid + * @brief A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. + */ + class MapGrid{ + public: + /** + * @brief Creates a 0x0 map by default + */ + MapGrid(); + + /** + * @brief Creates a map of size_x by size_y + * @param size_x The width of the map + * @param size_y The height of the map + */ + MapGrid(unsigned int size_x, unsigned int size_y); + + + /** + * @brief Returns a map cell accessed by (col, row) + * @param x The x coordinate of the cell + * @param y The y coordinate of the cell + * @return A reference to the desired cell + */ + inline MapCell& operator() (unsigned int x, unsigned int y){ + return map_[size_x_ * y + x]; + } + + /** + * @brief Returns a map cell accessed by (col, row) + * @param x The x coordinate of the cell + * @param y The y coordinate of the cell + * @return A copy of the desired cell + */ + inline MapCell operator() (unsigned int x, unsigned int y) const { + return map_[size_x_ * y + x]; + } + + inline MapCell& getCell(unsigned int x, unsigned int y){ + return map_[size_x_ * y + x]; + } + + /** + * @brief Destructor for a MapGrid + */ + ~MapGrid(){} + + /** + * @brief Copy constructor for a MapGrid + * @param mg The MapGrid to copy + */ + MapGrid(const MapGrid& mg); + + /** + * @brief Assignment operator for a MapGrid + * @param mg The MapGrid to assign from + */ + MapGrid& operator= (const MapGrid& mg); + + /** + * @brief reset path distance fields for all cells + */ + void resetPathDist(); + + /** + * @brief check if we need to resize + * @param size_x The desired width + * @param size_y The desired height + */ + void sizeCheck(unsigned int size_x, unsigned int size_y); + + /** + * @brief Utility to share initialization code across constructors + */ + void commonInit(); + + /** + * @brief Returns a 1D index into the MapCell array for a 2D index + * @param x The desired x coordinate + * @param y The desired y coordinate + * @return The associated 1D index + */ + size_t getIndex(int x, int y); + + /** + * return a value that indicates cell is in obstacle + */ + inline double obstacleCosts() { + return map_.size(); + } + + /** + * returns a value indicating cell was not reached by wavefront + * propagation of set cells. (is behind walls, regarding the region covered by grid) + */ + inline double unreachableCellCosts() { + return map_.size() + 1; + } + + /** + * @brief Used to update the distance of a cell in path distance computation + * @param current_cell The cell we're currently in + * @param check_cell The cell to be updated + */ + inline bool updatePathCell(MapCell* current_cell, MapCell* check_cell, + const costmap_2d::Costmap2D& costmap); + + /** + * increase global plan resolution to match that of the costmap by adding points linearly between global plan points + * This is necessary where global planners produce plans with few points. + * @param global_plan_in input + * @param global_plan_output output + * @param resolution desired distance between waypoints + */ + static void adjustPlanResolution(const std::vector& global_plan_in, + std::vector& global_plan_out, double resolution); + + /** + * @brief Compute the distance from each cell in the local map grid to the planned path + * @param dist_queue A queue of the initial cells on the path + */ + void computeTargetDistance(std::queue& dist_queue, const costmap_2d::Costmap2D& costmap); + + /** + * @brief Compute the distance from each cell in the local map grid to the local goal point + * @param goal_queue A queue containing the local goal cell + */ + void computeGoalDistance(std::queue& dist_queue, const costmap_2d::Costmap2D& costmap); + + /** + * @brief Update what cells are considered path based on the global plan + */ + void setTargetCells(const costmap_2d::Costmap2D& costmap, const std::vector& global_plan); + + /** + * @brief Update what cell is considered the next local goal + */ + void setLocalGoal(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan); + + double goal_x_, goal_y_; /**< @brief The goal distance was last computed from */ + + unsigned int size_x_, size_y_; ///< @brief The dimensions of the grid + + private: + + std::vector map_; ///< @brief Storage for the MapCells + + }; +}; + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/map_grid_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/map_grid_cost_function.h new file mode 100644 index 0000000..421bd00 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/map_grid_cost_function.h @@ -0,0 +1,139 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef MAP_GRID_COST_FUNCTION_H_ +#define MAP_GRID_COST_FUNCTION_H_ + +#include + +#include +#include + +namespace base_local_planner { + +/** + * when scoring a trajectory according to the values in mapgrid, we can take + *return the value of the last point (if no of the earlier points were in + * return collision), the sum for all points, or the product of all (non-zero) points + */ +enum CostAggregationType { Last, Sum, Product}; + +/** + * This class provides cost based on a map_grid of a small area of the world. + * The map_grid covers a the costmap, the costmap containing the information + * about sensed obstacles. The map_grid is used by setting + * certain cells to distance 0, and then propagating distances around them, + * filling up the area reachable around them. + * + * The approach using grid_maps is used for computational efficiency, allowing to + * score hundreds of trajectories very quickly. + * + * This can be used to favor trajectories which stay on a given path, or which + * approach a given goal. + * @param costmap_ros Reference to object giving updates of obstacles around robot + * @param xshift where the scoring point is with respect to robot center pose + * @param yshift where the scoring point is with respect to robot center pose + * @param is_local_goal_function, scores for local goal rather than whole path + * @param aggregationType how to combine costs along trajectory + */ +class MapGridCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + MapGridCostFunction(costmap_2d::Costmap2D* costmap, + double xshift = 0.0, + double yshift = 0.0, + bool is_local_goal_function = false, + CostAggregationType aggregationType = Last); + + ~MapGridCostFunction() {} + + /** + * set line segments on the grid with distance 0, resets the grid + */ + void setTargetPoses(std::vector target_poses); + + void setXShift(double xshift) {xshift_ = xshift;} + void setYShift(double yshift) {yshift_ = yshift;} + + /** @brief If true, failures along the path cause the entire path to be rejected. + * + * Default is true. */ + void setStopOnFailure(bool stop_on_failure) {stop_on_failure_ = stop_on_failure;} + + /** + * propagate distances + */ + bool prepare(); + + double scoreTrajectory(Trajectory &traj); + + /** + * return a value that indicates cell is in obstacle + */ + double obstacleCosts() { + return map_.obstacleCosts(); + } + + /** + * returns a value indicating cell was not reached by wavefront + * propagation of set cells. (is behind walls, regarding the region covered by grid) + */ + double unreachableCellCosts() { + return map_.unreachableCellCosts(); + } + + // used for easier debugging + double getCellCosts(unsigned int cx, unsigned int cy); + +private: + std::vector target_poses_; + costmap_2d::Costmap2D* costmap_; + + base_local_planner::MapGrid map_; + CostAggregationType aggregationType_; + /// xshift and yshift allow scoring for different + // ooints of robots than center, like fron or back + // this can help with alignment or keeping specific + // wheels on tracks both default to 0 + double xshift_; + double yshift_; + // if true, we look for a suitable local goal on path, else we use the full path for costs + bool is_local_goal_function_; + bool stop_on_failure_; +}; + +} /* namespace base_local_planner */ +#endif /* MAP_GRID_COST_FUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/map_grid_visualizer.h b/src/navigation/base_local_planner/include/base_local_planner/map_grid_visualizer.h new file mode 100644 index 0000000..43d1bd0 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/map_grid_visualizer.h @@ -0,0 +1,71 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010, Eric Perko + * 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 Eric Perko 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 OWNER 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 MAP_GRID_VISUALIZER_H_ +#define MAP_GRID_VISUALIZER_H_ + +#include +#include +#include + +namespace base_local_planner { + class MapGridVisualizer { + public: + /** + * @brief Default constructor + */ + MapGridVisualizer(); + + /** + * @brief Initializes the MapGridVisualizer + * @param name The name to be appended to ~/ in order to get the proper namespace for parameters + * @param costmap The costmap instance to use to get the size of the map to generate a point cloud for + * @param cost_function The function to use to compute the cost values to be inserted into each point in the output PointCloud as well as whether to include a given point or not + */ + void initialize(const std::string& name, std::string frame, boost::function cost_function); + + /** + * @brief Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true. + */ + void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_); + + private: + std::string name_; ///< @brief The name to get parameters relative to. + boost::function cost_function_; ///< @brief The function to be used to generate the cost components for the output PointCloud + ros::NodeHandle ns_nh_; + std::string frame_id_; + ros::Publisher pub_; + }; +}; + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/obstacle_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/obstacle_cost_function.h new file mode 100644 index 0000000..e5563df --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/obstacle_cost_function.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef OBSTACLE_COST_FUNCTION_H_ +#define OBSTACLE_COST_FUNCTION_H_ + +#include + +#include +#include + +namespace base_local_planner { + +/** + * class ObstacleCostFunction + * @brief Uses costmap 2d to assign negative costs if robot footprint + * is in obstacle on any point of the trajectory. + */ +class ObstacleCostFunction : public TrajectoryCostFunction { + +public: + ObstacleCostFunction(costmap_2d::Costmap2D* costmap); + ~ObstacleCostFunction(); + + bool prepare(); + double scoreTrajectory(Trajectory &traj); + + void setSumScores(bool score_sums){ sum_scores_=score_sums; } + + void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed); + void setFootprint(std::vector footprint_spec); + + // helper functions, made static for easy unit testing + static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor); + static double footprintCost( + const double& x, + const double& y, + const double& th, + double scale, + std::vector footprint_spec, + costmap_2d::Costmap2D* costmap, + base_local_planner::WorldModel* world_model); + +private: + costmap_2d::Costmap2D* costmap_; + std::vector footprint_spec_; + base_local_planner::WorldModel* world_model_; + double max_trans_vel_; + bool sum_scores_; + //footprint scaling with velocity; + double max_scaling_factor_, scaling_speed_; +}; + +} /* namespace base_local_planner */ +#endif /* OBSTACLE_COST_FUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h b/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h new file mode 100644 index 0000000..affce7a --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h @@ -0,0 +1,92 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef ODOMETRY_HELPER_ROS2_H_ +#define ODOMETRY_HELPER_ROS2_H_ + +#include +#include +#include +#include + +namespace base_local_planner { + +class OdometryHelperRos { +public: + + /** @brief Constructor. + * @param odom_topic The topic on which to subscribe to Odometry + * messages. If the empty string is given (the default), no + * subscription is done. */ + OdometryHelperRos(std::string odom_topic = ""); + ~OdometryHelperRos() {} + + /** + * @brief Callback for receiving odometry data + * @param msg An Odometry message + */ + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg); + + void getOdom(nav_msgs::Odometry& base_odom); + + void getRobotVel(geometry_msgs::PoseStamped& robot_vel); + + /** @brief Set the odometry topic. This overrides what was set in the constructor, if anything. + * + * This unsubscribes from the old topic (if any) and subscribes to the new one (if any). + * + * If odom_topic is the empty string, this just unsubscribes from the previous topic. */ + void setOdomTopic(std::string odom_topic); + + /** @brief Return the current odometry topic. */ + std::string getOdomTopic() const { return odom_topic_; } + +private: + //odom topic + std::string odom_topic_; + + // we listen on odometry on the odom topic + ros::Subscriber odom_sub_; + nav_msgs::Odometry base_odom_; + boost::mutex odom_mutex_; + // global tf frame id + std::string frame_id_; ///< The frame_id associated this data +}; + +} /* namespace base_local_planner */ +#define CHUNKY 1 +#endif /* ODOMETRY_HELPER_ROS2_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/oscillation_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/oscillation_cost_function.h new file mode 100644 index 0000000..5a8f98a --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/oscillation_cost_function.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef OSCILLATION_COST_FUNCTION_H_ +#define OSCILLATION_COST_FUNCTION_H_ + +#include +#include + +namespace base_local_planner { + +class OscillationCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + OscillationCostFunction(); + virtual ~OscillationCostFunction(); + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; + + /** + * @brief Reset the oscillation flags for the local planner + */ + void resetOscillationFlags(); + + + void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans); + + void setOscillationResetDist(double dist, double angle); + +private: + + void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev); + + /** + * @brief Given a trajectory that's selected, set flags if needed to + * prevent the robot from oscillating + * @param t The selected trajectory + * @return True if a flag was set, false otherwise + */ + bool setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans); + + // flags + bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_; + bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_; + bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_; + + // param + double oscillation_reset_dist_, oscillation_reset_angle_; + + Eigen::Vector3f prev_stationary_pos_; +}; + +} /* namespace base_local_planner */ +#endif /* OSCILLATION_COST_FUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/planar_laser_scan.h b/src/navigation/base_local_planner/include/base_local_planner/planar_laser_scan.h new file mode 100644 index 0000000..ce99a70 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/planar_laser_scan.h @@ -0,0 +1,57 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_PLANAR_LASER_SCAN_H_ +#define TRAJECTORY_ROLLOUT_PLANAR_LASER_SCAN_H_ + +#include +#include + +namespace base_local_planner { + /** + * @class PlanarLaserScan + * @brief Stores a scan from a planar laser that can be used to clear freespace + */ + class PlanarLaserScan { + public: + PlanarLaserScan() {} + geometry_msgs::Point32 origin; + sensor_msgs::PointCloud cloud; + double angle_min, angle_max, angle_increment; + }; +}; + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/point_grid.h b/src/navigation/base_local_planner/include/base_local_planner/point_grid.h new file mode 100644 index 0000000..2df7ea4 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/point_grid.h @@ -0,0 +1,326 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef POINT_GRID_H_ +#define POINT_GRID_H_ +#include +#include +#include +#include +#include +#include + +#include + +namespace base_local_planner { + /** + * @class PointGrid + * @brief A class that implements the WorldModel interface to provide + * free-space collision checks for the trajectory controller. This class + * stores points binned into a grid and performs point-in-polygon checks when + * necessary to determine the legality of a footprint at a given + * position/orientation. + */ + class PointGrid : public WorldModel { + public: + /** + * @brief Constuctor for a grid that stores points in the plane + * @param width The width in meters of the grid + * @param height The height in meters of the gird + * @param resolution The resolution of the grid in meters/cell + * @param origin The origin of the bottom left corner of the grid + * @param max_z The maximum height for an obstacle to be added to the grid + * @param obstacle_range The maximum distance for obstacles to be added to the grid + * @param min_separation The minimum distance between points in the grid + */ + PointGrid(double width, double height, double resolution, geometry_msgs::Point origin, + double max_z, double obstacle_range, double min_separation); + + /** + * @brief Destructor for a point grid + */ + virtual ~PointGrid(){} + + /** + * @brief Returns the points that lie within the cells contained in the specified range. Some of these points may be outside the range itself. + * @param lower_left The lower left corner of the range search + * @param upper_right The upper right corner of the range search + * @param points A vector of pointers to lists of the relevant points + */ + void getPointsInRange(const geometry_msgs::Point& lower_left, const geometry_msgs::Point& upper_right, std::vector< std::list* >& points); + + /** + * @brief Checks if any points in the grid lie inside a convex footprint + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + using WorldModel::footprintCost; + + /** + * @brief Inserts observations from sensors into the point grid + * @param footprint The footprint of the robot in its current location + * @param observations The observations from various sensors + * @param laser_scans The laser scans used to clear freespace (the point grid only uses the first scan which is assumed to be the base laser) + */ + void updateWorld(const std::vector& footprint, + const std::vector& observations, const std::vector& laser_scans); + + /** + * @brief Convert from world coordinates to grid coordinates + * @param pt A point in world space + * @param gx The x coordinate of the corresponding grid cell to be set by the function + * @param gy The y coordinate of the corresponding grid cell to be set by the function + * @return True if the conversion was successful, false otherwise + */ + inline bool gridCoords(geometry_msgs::Point pt, unsigned int& gx, unsigned int& gy) const { + if(pt.x < origin_.x || pt.y < origin_.y){ + gx = 0; + gy = 0; + return false; + } + gx = (int) ((pt.x - origin_.x)/resolution_); + gy = (int) ((pt.y - origin_.y)/resolution_); + + if(gx >= width_ || gy >= height_){ + gx = 0; + gy = 0; + return false; + } + + return true; + } + + /** + * @brief Get the bounds in world coordinates of a cell in the point grid, assumes a legal cell when called + * @param gx The x coordinate of the grid cell + * @param gy The y coordinate of the grid cell + * @param lower_left The lower left bounds of the cell in world coordinates to be filled in + * @param upper_right The upper right bounds of the cell in world coordinates to be filled in + */ + inline void getCellBounds(unsigned int gx, unsigned int gy, geometry_msgs::Point& lower_left, geometry_msgs::Point& upper_right) const { + lower_left.x = gx * resolution_ + origin_.x; + lower_left.y = gy * resolution_ + origin_.y; + + upper_right.x = lower_left.x + resolution_; + upper_right.y = lower_left.y + resolution_; + } + + + /** + * @brief Compute the squared distance between two points + * @param pt1 The first point + * @param pt2 The second point + * @return The squared distance between the two points + */ + inline double sq_distance(const geometry_msgs::Point32& pt1, const geometry_msgs::Point32& pt2){ + return (pt1.x - pt2.x) * (pt1.x - pt2.x) + (pt1.y - pt2.y) * (pt1.y - pt2.y); + } + + /** + * @brief Convert from world coordinates to grid coordinates + * @param pt A point in world space + * @param gx The x coordinate of the corresponding grid cell to be set by the function + * @param gy The y coordinate of the corresponding grid cell to be set by the function + * @return True if the conversion was successful, false otherwise + */ + inline bool gridCoords(const geometry_msgs::Point32& pt, unsigned int& gx, unsigned int& gy) const { + if(pt.x < origin_.x || pt.y < origin_.y){ + gx = 0; + gy = 0; + return false; + } + gx = (int) ((pt.x - origin_.x)/resolution_); + gy = (int) ((pt.y - origin_.y)/resolution_); + + if(gx >= width_ || gy >= height_){ + gx = 0; + gy = 0; + return false; + } + + return true; + } + + /** + * @brief Converts cell coordinates to an index value that can be used to look up the correct grid cell + * @param gx The x coordinate of the cell + * @param gy The y coordinate of the cell + * @return The index of the cell in the stored cell list + */ + inline unsigned int gridIndex(unsigned int gx, unsigned int gy) const { + /* + * (0, 0) ---------------------- (width, 0) + * | | + * | | + * | | + * | | + * | | + * (0, height) ----------------- (width, height) + */ + return(gx + gy * width_); + } + + /** + * @brief Check the orientation of a pt c with respect to the vector a->b + * @param a The start point of the vector + * @param b The end point of the vector + * @param c The point to compute orientation for + * @return orient(a, b, c) < 0 ----> Right, orient(a, b, c) > 0 ----> Left + */ + inline double orient(const geometry_msgs::Point& a, const geometry_msgs::Point& b, const geometry_msgs::Point32& c){ + double acx = a.x - c.x; + double bcx = b.x - c.x; + double acy = a.y - c.y; + double bcy = b.y - c.y; + return acx * bcy - acy * bcx; + } + + /** + * @brief Check the orientation of a pt c with respect to the vector a->b + * @param a The start point of the vector + * @param b The end point of the vector + * @param c The point to compute orientation for + * @return orient(a, b, c) < 0 ----> Right, orient(a, b, c) > 0 ----> Left + */ + template + inline double orient(const T& a, const T& b, const T& c){ + double acx = a.x - c.x; + double bcx = b.x - c.x; + double acy = a.y - c.y; + double bcy = b.y - c.y; + return acx * bcy - acy * bcx; + } + + /** + * @brief Check if two line segmenst intersect + * @param v1 The first point of the first segment + * @param v2 The second point of the first segment + * @param u1 The first point of the second segment + * @param u2 The second point of the second segment + * @return True if the segments intersect, false otherwise + */ + inline bool segIntersect(const geometry_msgs::Point32& v1, const geometry_msgs::Point32& v2, + const geometry_msgs::Point32& u1, const geometry_msgs::Point32& u2){ + return (orient(v1, v2, u1) * orient(v1, v2, u2) < 0) && (orient(u1, u2, v1) * orient(u1, u2, v2) < 0); + } + + /** + * @brief Find the intersection point of two lines + * @param v1 The first point of the first segment + * @param v2 The second point of the first segment + * @param u1 The first point of the second segment + * @param u2 The second point of the second segment + * @param result The point to be filled in + */ + void intersectionPoint(const geometry_msgs::Point& v1, const geometry_msgs::Point& v2, + const geometry_msgs::Point& u1, const geometry_msgs::Point& u2, + geometry_msgs::Point& result); + + /** + * @brief Check if a point is in a polygon + * @param pt The point to be checked + * @param poly The polygon to check against + * @return True if the point is in the polygon, false otherwise + */ + bool ptInPolygon(const geometry_msgs::Point32& pt, const std::vector& poly); + + /** + * @brief Insert a point into the point grid + * @param pt The point to be inserted + */ + void insert(const geometry_msgs::Point32& pt); + + /** + * @brief Find the distance between a point and its nearest neighbor in the grid + * @param pt The point used for comparison + * @return The distance between the point passed in and its nearest neighbor in the point grid + */ + double nearestNeighborDistance(const geometry_msgs::Point32& pt); + + /** + * @brief Find the distance between a point and its nearest neighbor in a cell + * @param pt The point used for comparison + * @param gx The x coordinate of the cell + * @param gy The y coordinate of the cell + * @return The distance between the point passed in and its nearest neighbor in the cell + */ + double getNearestInCell(const geometry_msgs::Point32& pt, unsigned int gx, unsigned int gy); + + /** + * @brief Removes points from the grid that lie within the polygon + * @param poly A specification of the polygon to clear from the grid + */ + void removePointsInPolygon(const std::vector poly); + + /** + * @brief Removes points from the grid that lie within a laser scan + * @param laser_scan A specification of the laser scan to use for clearing + */ + void removePointsInScanBoundry(const PlanarLaserScan& laser_scan); + + /** + * @brief Checks to see if a point is within a laser scan specification + * @param pt The point to check + * @param laser_scan The specification of the scan to check against + * @return True if the point is contained within the scan, false otherwise + */ + bool ptInScan(const geometry_msgs::Point32& pt, const PlanarLaserScan& laser_scan); + + /** + * @brief Get the points in the point grid + * @param cloud The point cloud to insert the points into + */ + void getPoints(sensor_msgs::PointCloud2& cloud); + + private: + double resolution_; ///< @brief The resolution of the grid in meters/cell + geometry_msgs::Point origin_; ///< @brief The origin point of the grid + unsigned int width_; ///< @brief The width of the grid in cells + unsigned int height_; ///< @brief The height of the grid in cells + std::vector< std::list > cells_; ///< @brief Storage for the cells in the grid + double max_z_; ///< @brief The height cutoff for adding points as obstacles + double sq_obstacle_range_; ///< @brief The square distance at which we no longer add obstacles to the grid + double sq_min_separation_; ///< @brief The minimum square distance required between points in the grid + std::vector< std::list* > points_; ///< @brief The lists of points returned by a range search, made a member to save on memory allocation + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h new file mode 100644 index 0000000..23ab6f1 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h @@ -0,0 +1,64 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef PREFER_FORWARD_COST_FUNCTION_H_ +#define PREFER_FORWARD_COST_FUNCTION_H_ + +#include + +namespace base_local_planner { + +class PreferForwardCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + + PreferForwardCostFunction(double penalty) : penalty_(penalty) {} + ~PreferForwardCostFunction() {} + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; + + void setPenalty(double penalty) { + penalty_ = penalty; + } + +private: + double penalty_; +}; + +} /* namespace base_local_planner */ +#endif /* PREFER_FORWARD_COST_FUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h b/src/navigation/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h new file mode 100644 index 0000000..8e4aff7 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h @@ -0,0 +1,109 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef SIMPLE_SCORED_SAMPLING_PLANNER_H_ +#define SIMPLE_SCORED_SAMPLING_PLANNER_H_ + +#include +#include +#include +#include +#include + +namespace base_local_planner { + +/** + * @class SimpleScoredSamplingPlanner + * @brief Generates a local plan using the given generator and cost functions. + * Assumes less cost are best, and negative costs indicate infinite costs + * + * This is supposed to be a simple and robust implementation of + * the TrajectorySearch interface. More efficient search may well be + * possible using search heuristics, parallel search, etc. + */ +class SimpleScoredSamplingPlanner : public base_local_planner::TrajectorySearch { +public: + + ~SimpleScoredSamplingPlanner() {} + + SimpleScoredSamplingPlanner() {} + + /** + * Takes a list of generators and critics. Critics return costs > 0, or negative costs for invalid trajectories. + * Generators other than the first are fallback generators, meaning they only get to generate if the previous + * generator did not find a valid trajectory. + * Will use every generator until it stops returning trajectories or count reaches max_samples. + * Then resets count and tries for the next in the list. + * passing max_samples = -1 (default): Each Sampling planner will continue to call + * generator until generator runs out of samples (or forever if that never happens) + */ + SimpleScoredSamplingPlanner(std::vector gen_list, std::vector& critics, int max_samples = -1); + + /** + * runs all scoring functions over the trajectory creating a weigthed sum + * of positive costs, aborting as soon as a negative cost are found or costs greater + * than positive best_traj_cost accumulated + */ + double scoreTrajectory(Trajectory& traj, double best_traj_cost); + + /** + * Calls generator until generator has no more samples or max_samples is reached. + * For each generated traj, calls critics in turn. If any critic returns negative + * value, that value is assumed as costs, else the costs are the sum of all critics + * result. Returns true and sets the traj parameter to the first trajectory with + * minimal non-negative costs if sampling yields trajectories with non-negative costs, + * else returns false. + * + * @param traj The container to write the result to + * @param all_explored pass NULL or a container to collect all trajectories for debugging (has a penalty) + */ + bool findBestTrajectory(Trajectory& traj, std::vector* all_explored = 0); + + +private: + std::vector gen_list_; + std::vector critics_; + + int max_samples_; +}; + + + + +} // namespace + +#endif /* SIMPLE_SCORED_SAMPLING_PLANNER_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/simple_trajectory_generator.h b/src/navigation/base_local_planner/include/base_local_planner/simple_trajectory_generator.h new file mode 100644 index 0000000..18a6fd0 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/simple_trajectory_generator.h @@ -0,0 +1,160 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef SIMPLE_TRAJECTORY_GENERATOR_H_ +#define SIMPLE_TRAJECTORY_GENERATOR_H_ + +#include +#include +#include + +namespace base_local_planner { + +/** + * generates trajectories based on equi-distant discretisation of the degrees of freedom. + * This is supposed to be a simple and robust implementation of the TrajectorySampleGenerator + * interface, more efficient implementations are thinkable. + * + * This can be used for both dwa and trajectory rollout approaches. + * As an example, assuming these values: + * sim_time = 1s, sim_period=200ms, dt = 200ms, + * vsamples_x=5, + * acc_limit_x = 1m/s^2, vel_x=0 (robot at rest, values just for easy calculations) + * dwa_planner will sample max-x-velocities from 0m/s to 0.2m/s. + * trajectory rollout approach will sample max-x-velocities 0m/s up to 1m/s + * trajectory rollout approach does so respecting the acceleration limit, so it gradually increases velocity + */ +class SimpleTrajectoryGenerator: public base_local_planner::TrajectorySampleGenerator { +public: + + SimpleTrajectoryGenerator() { + limits_ = NULL; + } + + ~SimpleTrajectoryGenerator() {} + + /** + * @param pos current robot position + * @param vel current robot velocity + * @param limits Current velocity limits + * @param vsamples: in how many samples to divide the given dimension + * @param use_acceleration_limits: if true use physical model, else idealized robot model + * @param additional_samples (deprecated): Additional velocity samples to generate individual trajectories from. + * @param discretize_by_time if true, the trajectory is split according in chunks of the same duration, else of same length + */ + void initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + std::vector additional_samples, + bool discretize_by_time = false); + + /** + * @param pos current robot position + * @param vel current robot velocity + * @param limits Current velocity limits + * @param vsamples: in how many samples to divide the given dimension + * @param use_acceleration_limits: if true use physical model, else idealized robot model + * @param discretize_by_time if true, the trajectory is split according in chunks of the same duration, else of same length + */ + void initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + bool discretize_by_time = false); + + /** + * This function is to be called only when parameters change + * + * @param sim_granularity granularity of collision detection + * @param angular_sim_granularity angular granularity of collision detection + * @param use_dwa whether to use DWA or trajectory rollout + * @param sim_period distance between points in one trajectory + */ + void setParameters(double sim_time, + double sim_granularity, + double angular_sim_granularity, + bool use_dwa = false, + double sim_period = 0.0); + + /** + * Whether this generator can create more trajectories + */ + bool hasMoreTrajectories(); + + /** + * Whether this generator can create more trajectories + */ + bool nextTrajectory(Trajectory &traj); + + + static Eigen::Vector3f computeNewPositions(const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, double dt); + + static Eigen::Vector3f computeNewVelocities(const Eigen::Vector3f& sample_target_vel, + const Eigen::Vector3f& vel, Eigen::Vector3f acclimits, double dt); + + bool generateTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f sample_target_vel, + base_local_planner::Trajectory& traj); + +protected: + + unsigned int next_sample_index_; + // to store sample params of each sample between init and generation + std::vector sample_params_; + base_local_planner::LocalPlannerLimits* limits_; + Eigen::Vector3f pos_; + Eigen::Vector3f vel_; + + // whether velocity of trajectory changes over time or not + bool continued_acceleration_; + bool discretize_by_time_; + + double sim_time_, sim_granularity_, angular_sim_granularity_; + bool use_dwa_; + double sim_period_; // only for dwa +}; + +} /* namespace base_local_planner */ +#endif /* SIMPLE_TRAJECTORY_GENERATOR_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory.h new file mode 100644 index 0000000..da0223d --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory.h @@ -0,0 +1,118 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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 TRAJECTORY_ROLLOUT_TRAJECTORY_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_H_ + +#include + +namespace base_local_planner { + /** + * @class Trajectory + * @brief Holds a trajectory generated by considering an x, y, and theta velocity + */ + class Trajectory { + public: + /** + * @brief Default constructor + */ + Trajectory(); + + /** + * @brief Constructs a trajectory + * @param xv The x velocity used to seed the trajectory + * @param yv The y velocity used to seed the trajectory + * @param thetav The theta velocity used to seed the trajectory + * @param num_pts The expected number of points for a trajectory + */ + Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts); + + double xv_, yv_, thetav_; ///< @brief The x, y, and theta velocities of the trajectory + + double cost_; ///< @brief The cost/score of the trajectory + + double time_delta_; ///< @brief The time gap between points + + /** + * @brief Get a point within the trajectory + * @param index The index of the point to get + * @param x Will be set to the x position of the point + * @param y Will be set to the y position of the point + * @param th Will be set to the theta position of the point + */ + void getPoint(unsigned int index, double& x, double& y, double& th) const; + + /** + * @brief Set a point within the trajectory + * @param index The index of the point to set + * @param x The x position + * @param y The y position + * @param th The theta position + */ + void setPoint(unsigned int index, double x, double y, double th); + + /** + * @brief Add a point to the end of a trajectory + * @param x The x position + * @param y The y position + * @param th The theta position + */ + void addPoint(double x, double y, double th); + + /** + * @brief Get the last point of the trajectory + * @param x Will be set to the x position of the point + * @param y Will be set to the y position of the point + * @param th Will be set to the theta position of the point + */ + void getEndpoint(double& x, double& y, double& th) const; + + /** + * @brief Clear the trajectory's points + */ + void resetPoints(); + + /** + * @brief Return the number of points in the trajectory + * @return The number of points in the trajectory + */ + unsigned int getPointsSize() const; + + private: + std::vector x_pts_; ///< @brief The x points in the trajectory + std::vector y_pts_; ///< @brief The y points in the trajectory + std::vector th_pts_; ///< @brief The theta points in the trajectory + + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_cost_function.h new file mode 100644 index 0000000..17e71a3 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_cost_function.h @@ -0,0 +1,86 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef TRAJECTORYCOSTFUNCTION_H_ +#define TRAJECTORYCOSTFUNCTION_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectoryCostFunction + * @brief Provides an interface for critics of trajectories + * During each sampling run, a batch of many trajectories will be scored using such a cost function. + * The prepare method is called before each batch run, and then for each + * trajectory of the sampling set, score_trajectory may be called. + */ +class TrajectoryCostFunction { +public: + + /** + * + * General updating of context values if required. + * Subclasses may overwrite. Return false in case there is any error. + */ + virtual bool prepare() = 0; + + /** + * return a score for trajectory traj + */ + virtual double scoreTrajectory(Trajectory &traj) = 0; + + double getScale() { + return scale_; + } + + void setScale(double scale) { + scale_ = scale; + } + + virtual ~TrajectoryCostFunction() {} + +protected: + TrajectoryCostFunction(double scale = 1.0): scale_(scale) {} + +private: + double scale_; +}; + +} + +#endif /* TRAJECTORYCOSTFUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_inc.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_inc.h new file mode 100644 index 0000000..4d121b5 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_inc.h @@ -0,0 +1,47 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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 TRAJECTORY_INC_H_ +#define TRAJECTORY_INC_H_ + +#include + +#ifndef DBL_MAX /* Max decimal value of a double */ +#define DBL_MAX std::numeric_limits::max() // 1.7976931348623157e+308 +#endif + +#ifndef DBL_MIN //Min decimal value of a double +#define DBL_MIN std::numeric_limits::min() // 2.2250738585072014e-308 +#endif + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner.h new file mode 100644 index 0000000..19785d9 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner.h @@ -0,0 +1,385 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_ + +#include +#include + +//for obstacle data access +#include +#include +#include + +#include +#include +#include +#include + +//we'll take in a path as a vector of poses +#include +#include + +//for creating a local cost grid +#include +#include + +namespace base_local_planner { + /** + * @class TrajectoryPlanner + * @brief Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. + */ + class TrajectoryPlanner{ + friend class TrajectoryPlannerTest; //Need this for gtest to work + public: + /** + * @brief Constructs a trajectory controller + * @param world_model The WorldModel the trajectory controller uses to check for collisions + * @param costmap A reference to the Costmap the controller should use + * @param footprint_spec A polygon representing the footprint of the robot. (Must be convex) + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param acc_lim_x The acceleration limit of the robot in the x direction + * @param acc_lim_y The acceleration limit of the robot in the y direction + * @param acc_lim_theta The acceleration limit of the robot in the theta direction + * @param sim_time The number of seconds to "roll-out" each trajectory + * @param sim_granularity The distance between simulation points should be small enough that the robot doesn't hit things + * @param vx_samples The number of trajectories to sample in the x dimension + * @param vtheta_samples The number of trajectories to sample in the theta dimension + * @param path_distance_bias A scaling factor for how close the robot should stay to the path + * @param goal_distance_bias A scaling factor for how aggresively the robot should pursue a local goal + * @param occdist_scale A scaling factor for how much the robot should prefer to stay away from obstacles + * @param heading_lookahead How far the robot should look ahead of itself when differentiating between different rotational velocities + * @param oscillation_reset_dist The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past + * @param escape_reset_dist The distance the robot must travel before it can exit escape mode + * @param escape_reset_theta The distance the robot must rotate before it can exit escape mode + * @param holonomic_robot Set this to true if the robot being controlled can take y velocities and false otherwise + * @param max_vel_x The maximum x velocity the controller will explore + * @param min_vel_x The minimum x velocity the controller will explore + * @param max_vel_th The maximum rotational velocity the controller will explore + * @param min_vel_th The minimum rotational velocity the controller will explore + * @param min_in_place_vel_th The absolute value of the minimum in-place rotational velocity the controller will explore + * @param backup_vel The velocity to use while backing up + * @param dwa Set this to true to use the Dynamic Window Approach, false to use acceleration limits + * @param heading_scoring Set this to true to score trajectories based on the robot's heading after 1 timestep + * @param heading_scoring_timestep How far to look ahead in time when we score heading based trajectories + * @param meter_scoring adapt parameters to costmap resolution + * @param simple_attractor Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation + * @param y_vels A vector of the y velocities the controller will explore + * @param angular_sim_granularity The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things + */ + TrajectoryPlanner(WorldModel& world_model, + const costmap_2d::Costmap2D& costmap, + std::vector footprint_spec, + double acc_lim_x = 1.0, double acc_lim_y = 1.0, double acc_lim_theta = 1.0, + double sim_time = 1.0, double sim_granularity = 0.025, + int vx_samples = 20, int vtheta_samples = 20, + double path_distance_bias = 0.6, double goal_distance_bias = 0.8, double occdist_scale = 0.2, + double heading_lookahead = 0.325, double oscillation_reset_dist = 0.05, + double escape_reset_dist = 0.10, double escape_reset_theta = M_PI_2, + bool holonomic_robot = true, + double max_vel_x = 0.5, double min_vel_x = 0.1, + double max_vel_th = 1.0, double min_vel_th = -1.0, double min_in_place_vel_th = 0.4, + double backup_vel = -0.1, + bool dwa = false, bool heading_scoring = false, double heading_scoring_timestep = 0.1, + bool meter_scoring = true, + bool simple_attractor = false, + std::vector y_vels = std::vector(0), + double stop_time_buffer = 0.2, + double sim_period = 0.1, double angular_sim_granularity = 0.025); + + /** + * @brief Destructs a trajectory controller + */ + ~TrajectoryPlanner(); + + /** + * @brief Reconfigures the trajectory planner + */ + void reconfigure(BaseLocalPlannerConfig &cfg); + + /** + * @brief Given the current position, orientation, and velocity of the robot, return a trajectory to follow + * @param global_pose The current pose of the robot in world space + * @param global_vel The current velocity of the robot in world space + * @param drive_velocities Will be set to velocities to send to the robot base + * @return The selected path or trajectory + */ + Trajectory findBestPath(const geometry_msgs::PoseStamped& global_pose, + geometry_msgs::PoseStamped& global_vel, geometry_msgs::PoseStamped& drive_velocities); + + /** + * @brief Update the plan that the controller is following + * @param new_plan A new plan for the controller to follow + * @param compute_dists Wheter or not to compute path/goal distances when a plan is updated + */ + void updatePlan(const std::vector& new_plan, bool compute_dists = false); + + /** + * @brief Accessor for the goal the robot is currently pursuing in world corrdinates + * @param x Will be set to the x position of the local goal + * @param y Will be set to the y position of the local goal + */ + void getLocalGoal(double& x, double& y); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @return True if the trajectory is legal, false otherwise + */ + bool checkTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @return The score (as double) + */ + double scoreTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp); + + /** + * @brief Compute the components and total cost for a map grid cell + * @param cx The x coordinate of the cell in the map grid + * @param cy The y coordinate of the cell in the map grid + * @param path_cost Will be set to the path distance component of the cost function + * @param goal_cost Will be set to the goal distance component of the cost function + * @param occ_cost Will be set to the costmap value of the cell + * @param total_cost Will be set to the value of the overall cost function, taking into account the scaling parameters + * @return True if the cell is traversible and therefore a legal location for the robot to move to + */ + bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost); + + /** @brief Set the footprint specification of the robot. */ + void setFootprint( std::vector footprint ) { footprint_spec_ = footprint; } + + /** @brief Return the footprint specification of the robot. */ + geometry_msgs::Polygon getFootprintPolygon() const { return costmap_2d::toPolygon(footprint_spec_); } + std::vector getFootprint() const { return footprint_spec_; } + + private: + /** + * @brief Create the trajectories we wish to explore, score them, and return the best option + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param acc_x The x acceleration limit of the robot + * @param acc_y The y acceleration limit of the robot + * @param acc_theta The theta acceleration limit of the robot + * @return + */ + Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta, + double acc_x, double acc_y, double acc_theta); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param acc_x The x acceleration limit of the robot + * @param acc_y The y acceleration limit of the robot + * @param acc_theta The theta acceleration limit of the robot + * @param impossible_cost The cost value of a cell in the local map grid that is considered impassable + * @param traj Will be set to the generated trajectory with its associated score + */ + void generateTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, + double acc_theta, double impossible_cost, Trajectory& traj); + + /** + * @brief Checks the legality of the robot footprint at a position and orientation using the world model + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @return + */ + double footprintCost(double x_i, double y_i, double theta_i); + + base_local_planner::FootprintHelper footprint_helper_; + + MapGrid path_map_; ///< @brief The local map grid where we propagate path distance + MapGrid goal_map_; ///< @brief The local map grid where we propagate goal distance + const costmap_2d::Costmap2D& costmap_; ///< @brief Provides access to cost map information + WorldModel& world_model_; ///< @brief The world model that the controller uses for collision detection + + std::vector footprint_spec_; ///< @brief The footprint specification of the robot + + std::vector global_plan_; ///< @brief The global path for the robot to follow + + bool stuck_left, stuck_right; ///< @brief Booleans to keep the robot from oscillating during rotation + bool rotating_left, rotating_right; ///< @brief Booleans to keep track of the direction of rotation for the robot + + bool stuck_left_strafe, stuck_right_strafe; ///< @brief Booleans to keep the robot from oscillating during strafing + bool strafe_right, strafe_left; ///< @brief Booleans to keep track of strafe direction for the robot + + bool escaping_; ///< @brief Boolean to keep track of whether we're in escape mode + bool meter_scoring_; + + double goal_x_,goal_y_; ///< @brief Storage for the local goal the robot is pursuing + + double final_goal_x_, final_goal_y_; ///< @brief The end position of the plan. + bool final_goal_position_valid_; ///< @brief True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent. + + double sim_time_; ///< @brief The number of seconds each trajectory is "rolled-out" + double sim_granularity_; ///< @brief The distance between simulation points + double angular_sim_granularity_; ///< @brief The distance between angular simulation points + + int vx_samples_; ///< @brief The number of samples we'll take in the x dimenstion of the control space + int vtheta_samples_; ///< @brief The number of samples we'll take in the theta dimension of the control space + + double path_distance_bias_, goal_distance_bias_, occdist_scale_; ///< @brief Scaling factors for the controller's cost function + double acc_lim_x_, acc_lim_y_, acc_lim_theta_; ///< @brief The acceleration limits of the robot + + double prev_x_, prev_y_; ///< @brief Used to calculate the distance the robot has traveled before reseting oscillation booleans + double escape_x_, escape_y_, escape_theta_; ///< @brief Used to calculate the distance the robot has traveled before reseting escape booleans + + Trajectory traj_one, traj_two; ///< @brief Used for scoring trajectories + + double heading_lookahead_; ///< @brief How far the robot should look ahead of itself when differentiating between different rotational velocities + double oscillation_reset_dist_; ///< @brief The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past + double escape_reset_dist_, escape_reset_theta_; ///< @brief The distance the robot must travel before it can leave escape mode + bool holonomic_robot_; ///< @brief Is the robot holonomic or not? + + double max_vel_x_, min_vel_x_, max_vel_th_, min_vel_th_, min_in_place_vel_th_; ///< @brief Velocity limits for the controller + + double backup_vel_; ///< @brief The velocity to use while backing up + + bool dwa_; ///< @brief Should we use the dynamic window approach? + bool heading_scoring_; ///< @brief Should we score based on the rollout approach or the heading approach + double heading_scoring_timestep_; ///< @brief How far to look ahead in time when we score a heading + bool simple_attractor_; ///< @brief Enables simple attraction to a goal point + + std::vector y_vels_; ///< @brief Y velocities to explore + + double stop_time_buffer_; ///< @brief How long before hitting something we're going to enforce that the robot stop + double sim_period_; ///< @brief The number of seconds to use to compute max/min vels for dwa + + double inscribed_radius_, circumscribed_radius_; + + boost::mutex configuration_mutex_; + + /** + * @brief Compute x position based on velocity + * @param xi The current x position + * @param vx The current x velocity + * @param vy The current y velocity + * @param theta The current orientation + * @param dt The timestep to take + * @return The new x position + */ + inline double computeNewXPosition(double xi, double vx, double vy, double theta, double dt){ + return xi + (vx * cos(theta) + vy * cos(M_PI_2 + theta)) * dt; + } + + /** + * @brief Compute y position based on velocity + * @param yi The current y position + * @param vx The current x velocity + * @param vy The current y velocity + * @param theta The current orientation + * @param dt The timestep to take + * @return The new y position + */ + inline double computeNewYPosition(double yi, double vx, double vy, double theta, double dt){ + return yi + (vx * sin(theta) + vy * sin(M_PI_2 + theta)) * dt; + } + + /** + * @brief Compute orientation based on velocity + * @param thetai The current orientation + * @param vth The current theta velocity + * @param dt The timestep to take + * @return The new orientation + */ + inline double computeNewThetaPosition(double thetai, double vth, double dt){ + return thetai + vth * dt; + } + + //compute velocity based on acceleration + /** + * @brief Compute velocity based on acceleration + * @param vg The desired velocity, what we're accelerating up to + * @param vi The current velocity + * @param a_max An acceleration limit + * @param dt The timestep to take + * @return The new velocity + */ + inline double computeNewVelocity(double vg, double vi, double a_max, double dt){ + if((vg - vi) >= 0) { + return std::min(vg, vi + a_max * dt); + } + return std::max(vg, vi - a_max * dt); + } + + void getMaxSpeedToStopInTime(double time, double& vx, double& vy, double& vth){ + vx = acc_lim_x_ * std::max(time, 0.0); + vy = acc_lim_y_ * std::max(time, 0.0); + vth = acc_lim_theta_ * std::max(time, 0.0); + } + + double lineCost(int x0, int x1, int y0, int y1); + double pointCost(int x, int y); + double headingDiff(int cell_x, int cell_y, double x, double y, double heading); + }; +}; + +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner_ros.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner_ros.h new file mode 100644 index 0000000..0394945 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_planner_ros.h @@ -0,0 +1,231 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include + +#include + +#include + +#include + +#include + +#include +#include + +#include + +namespace base_local_planner { + /** + * @class TrajectoryPlannerROS + * @brief A ROS wrapper for the trajectory controller that queries the param server to construct a controller + */ + class TrajectoryPlannerROS : public nav_core::BaseLocalPlanner { + public: + /** + * @brief Default constructor for the ros wrapper + */ + TrajectoryPlannerROS(); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + TrajectoryPlannerROS(std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor for the wrapper + */ + ~TrajectoryPlannerROS(); + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + /** + * @brief Set the plan that the controller is following + * @param orig_global_plan The plan to pass to the controller + * @return True if the plan was updated successfully, false otherwise + */ + bool setPlan(const std::vector& orig_global_plan); + + /** + * @brief Check if the goal pose has been achieved + * @return True if achieved, false otherwise + */ + bool isGoalReached(); + + /** + * @brief Generate and score a single trajectory + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param update_map Whether or not to update the map for the planner + * when computing the legality of the trajectory, this is useful to set + * to false if you're going to be doing a lot of trajectory checking over + * a short period of time + * @return True if the trajectory is legal, false otherwise + */ + bool checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true); + + /** + * @brief Generate and score a single trajectory + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param update_map Whether or not to update the map for the planner + * when computing the legality of the trajectory, this is useful to set + * to false if you're going to be doing a lot of trajectory checking over + * a short period of time + * @return score of trajectory (double) + */ + double scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true); + + bool isInitialized() { + return initialized_; + } + + /** @brief Return the inner TrajectoryPlanner object. Only valid after initialize(). */ + TrajectoryPlanner* getPlanner() const { return tc_; } + + private: + /** + * @brief Callback to update the local planner's parameters based on dynamic reconfigure + */ + void reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level); + + /** + * @brief Once a goal position is reached... rotate to the goal orientation + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param goal_th The desired th value for the goal + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool rotateToGoal(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel); + + /** + * @brief Stop the robot taking into account acceleration limits + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, geometry_msgs::Twist& cmd_vel); + + std::vector loadYVels(ros::NodeHandle node); + + double sign(double x){ + return x < 0.0 ? -1.0 : 1.0; + } + + WorldModel* world_model_; ///< @brief The world model that the controller will use + TrajectoryPlanner* tc_; ///< @brief The trajectory controller + + costmap_2d::Costmap2DROS* costmap_ros_; ///< @brief The ROS wrapper for the costmap the controller will use + costmap_2d::Costmap2D* costmap_; ///< @brief The costmap the controller will use + MapGridVisualizer map_viz_; ///< @brief The map grid visualizer for outputting the potential field generated by the cost function + tf2_ros::Buffer* tf_; ///< @brief Used for transforming point clouds + std::string global_frame_; ///< @brief The frame in which the controller will run + double max_sensor_range_; ///< @brief Keep track of the effective maximum range of our sensors + nav_msgs::Odometry base_odom_; ///< @brief Used to get the velocity of the robot + std::string robot_base_frame_; ///< @brief Used as the base frame id of the robot + double rot_stopped_velocity_, trans_stopped_velocity_; + double xy_goal_tolerance_, yaw_goal_tolerance_, min_in_place_vel_th_; + std::vector global_plan_; + bool prune_plan_; + boost::recursive_mutex odom_lock_; + + double max_vel_th_, min_vel_th_; + double acc_lim_x_, acc_lim_y_, acc_lim_theta_; + double sim_period_; + bool rotating_to_goal_; + bool reached_goal_; + bool latch_xy_goal_tolerance_, xy_tolerance_latch_; + + ros::Publisher g_plan_pub_, l_plan_pub_; + + dynamic_reconfigure::Server *dsrv_; + base_local_planner::BaseLocalPlannerConfig default_config_; + bool setup_; + + + bool initialized_; + base_local_planner::OdometryHelperRos odom_helper_; + + std::vector footprint_spec_; + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_sample_generator.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_sample_generator.h new file mode 100644 index 0000000..b67a0f1 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_sample_generator.h @@ -0,0 +1,74 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef TRAJECTORY_SAMPLE_GENERATOR_H_ +#define TRAJECTORY_SAMPLE_GENERATOR_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectorySampleGenerator + * @brief Provides an interface for navigation trajectory generators + */ +class TrajectorySampleGenerator { +public: + + /** + * Whether this generator can create more trajectories + */ + virtual bool hasMoreTrajectories() = 0; + + /** + * Whether this generator can create more trajectories + */ + virtual bool nextTrajectory(Trajectory &traj) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~TrajectorySampleGenerator() {} + +protected: + TrajectorySampleGenerator() {} + +}; + +} // end namespace + +#endif /* TRAJECTORY_SAMPLE_GENERATOR_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/trajectory_search.h b/src/navigation/base_local_planner/include/base_local_planner/trajectory_search.h new file mode 100644 index 0000000..a473cd3 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/trajectory_search.h @@ -0,0 +1,71 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#ifndef TRAJECTORY_SEARCH_H_ +#define TRAJECTORY_SEARCH_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectorySearch + * @brief Interface for modules finding a trajectory to use for navigation commands next + */ +class TrajectorySearch { +public: + /** + * searches the space of allowed trajectory and + * returns one considered the optimal given the + * constraints of the particular search. + * + * @param traj The container to write the result to + * @param all_explored pass NULL or a container to collect all trajectories for debugging (has a penalty) + */ + virtual bool findBestTrajectory(Trajectory& traj, std::vector* all_explored) = 0; + + virtual ~TrajectorySearch() {} + +protected: + TrajectorySearch() {} + +}; + + +} + +#endif /* TRAJECTORY_SEARCH_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/twirling_cost_function.h b/src/navigation/base_local_planner/include/base_local_planner/twirling_cost_function.h new file mode 100644 index 0000000..5ce02e1 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/twirling_cost_function.h @@ -0,0 +1,64 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Morgan Quigley + *********************************************************************/ + +#ifndef TWIRLING_COST_FUNCTION_H +#define TWIRLING_COST_FUNCTION_H + +#include + +namespace base_local_planner { + +/** + * This class provides a cost based on how much a robot "twirls" on its + * way to the goal. With differential-drive robots, there isn't a choice, + * but with holonomic or near-holonomic robots, sometimes a robot spins + * more than you'd like on its way to a goal. This class provides a way + * to assign a penalty purely to rotational velocities. + */ +class TwirlingCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + + TwirlingCostFunction() {} + ~TwirlingCostFunction() {} + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; +}; + +} /* namespace base_local_planner */ +#endif /* TWIRLING_COST_FUNCTION_H_ */ diff --git a/src/navigation/base_local_planner/include/base_local_planner/velocity_iterator.h b/src/navigation/base_local_planner/include/base_local_planner/velocity_iterator.h new file mode 100644 index 0000000..f4fc490 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/velocity_iterator.h @@ -0,0 +1,99 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_ +#define DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_ +#include +#include +#include + +namespace base_local_planner { + + /** + * We use the class to get even sized samples between min and max, inluding zero if it is not included (and range goes from negative to positive + */ + class VelocityIterator { + public: + VelocityIterator(double min, double max, int num_samples): + current_index(0) + { + if (min == max) { + samples_.push_back(min); + } else { + num_samples = std::max(2, num_samples); + + // e.g. for 4 samples, split distance in 3 even parts + double step_size = (max - min) / double(std::max(1, (num_samples - 1))); + + // we make sure to avoid rounding errors around min and max. + double current; + double next = min; + for (int j = 0; j < num_samples - 1; ++j) { + current = next; + next += step_size; + samples_.push_back(current); + // if 0 is among samples, this is never true. Else it inserts a 0 between the positive and negative samples + if ((current < 0) && (next > 0)) { + samples_.push_back(0.0); + } + } + samples_.push_back(max); + } + } + + double getVelocity(){ + return samples_.at(current_index); + } + + VelocityIterator& operator++(int){ + current_index++; + return *this; + } + + void reset(){ + current_index = 0; + } + + bool isFinished(){ + return current_index >= samples_.size(); + } + + private: + std::vector samples_; + unsigned int current_index; + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/voxel_grid_model.h b/src/navigation/base_local_planner/include/base_local_planner/voxel_grid_model.h new file mode 100644 index 0000000..4ecb288 --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/voxel_grid_model.h @@ -0,0 +1,179 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_ +#define TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_ +#include +#include +#include +#include +#include +#include + +//voxel grid stuff +#include + +namespace base_local_planner { + /** + * @class VoxelGridModel + * @brief A class that implements the WorldModel interface to provide grid + * based collision checks for the trajectory controller using a 3D voxel grid. + */ + class VoxelGridModel : public WorldModel { + public: + /** + * @brief Constructor for the VoxelGridModel + * @param size_x The x size of the map + * @param size_y The y size of the map + * @param size_z The z size of the map... up to 32 cells + * @param xy_resolution The horizontal resolution of the map in meters/cell + * @param z_resolution The vertical resolution of the map in meters/cell + * @param origin_x The x value of the origin of the map + * @param origin_y The y value of the origin of the map + * @param origin_z The z value of the origin of the map + * @param max_z The maximum height for an obstacle to be added to the grid + * @param obstacle_range The maximum distance for obstacles to be added to the grid + */ + VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, + double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range); + + /** + * @brief Destructor for the world model + */ + virtual ~VoxelGridModel(){} + + /** + * @brief Checks if any obstacles in the voxel grid lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + using WorldModel::footprintCost; + + /** + * @brief The costmap already keeps track of world observations, so for this world model this method does nothing + * @param footprint The footprint of the robot in its current location + * @param observations The observations from various sensors + * @param laser_scan The scans used to clear freespace + */ + void updateWorld(const std::vector& footprint, + const std::vector& observations, const std::vector& laser_scans); + + /** + * @brief Function copying the Voxel points into a point cloud + * @param cloud the point cloud to copy data to. It has the usual x,y,z channels + */ + void getPoints(sensor_msgs::PointCloud2& cloud); + + private: + /** + * @brief Rasterizes a line in the costmap grid and checks for collisions + * @param x0 The x position of the first cell in grid coordinates + * @param y0 The y position of the first cell in grid coordinates + * @param x1 The x position of the second cell in grid coordinates + * @param y1 The y position of the second cell in grid coordinates + * @return A positive cost for a legal line... negative otherwise + */ + double lineCost(int x0, int x1, int y0, int y1); + + /** + * @brief Checks the cost of a point in the costmap + * @param x The x position of the point in cell coordinates + * @param y The y position of the point in cell coordinates + * @return A positive cost for a legal point... negative otherwise + */ + double pointCost(int x, int y); + + void removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range); + + inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){ + if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_) + return false; + mx = (int) ((wx - origin_x_) / xy_resolution_); + my = (int) ((wy - origin_y_) / xy_resolution_); + mz = (int) ((wz - origin_z_) / z_resolution_); + return true; + } + + inline bool worldToMap2D(double wx, double wy, unsigned int& mx, unsigned int& my){ + if(wx < origin_x_ || wy < origin_y_) + return false; + mx = (int) ((wx - origin_x_) / xy_resolution_); + my = (int) ((wy - origin_y_) / xy_resolution_); + return true; + } + + inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){ + //returns the center point of the cell + wx = origin_x_ + (mx + 0.5) * xy_resolution_; + wy = origin_y_ + (my + 0.5) * xy_resolution_; + wz = origin_z_ + (mz + 0.5) * z_resolution_; + } + + inline void mapToWorld2D(unsigned int mx, unsigned int my, double& wx, double& wy){ + //returns the center point of the cell + wx = origin_x_ + (mx + 0.5) * xy_resolution_; + wy = origin_y_ + (my + 0.5) * xy_resolution_; + } + + inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){ + return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0)); + } + + inline void insert(const geometry_msgs::Point32& pt){ + unsigned int cell_x, cell_y, cell_z; + if(!worldToMap3D(pt.x, pt.y, pt.z, cell_x, cell_y, cell_z)) + return; + obstacle_grid_.markVoxel(cell_x, cell_y, cell_z); + } + + voxel_grid::VoxelGrid obstacle_grid_; + double xy_resolution_; + double z_resolution_; + double origin_x_; + double origin_y_; + double origin_z_; + double max_z_; ///< @brief The height cutoff for adding points as obstacles + double sq_obstacle_range_; ///< @brief The square distance at which we no longer add obstacles to the grid + + }; +}; +#endif diff --git a/src/navigation/base_local_planner/include/base_local_planner/world_model.h b/src/navigation/base_local_planner/include/base_local_planner/world_model.h new file mode 100644 index 0000000..b4ca3bb --- /dev/null +++ b/src/navigation/base_local_planner/include/base_local_planner/world_model.h @@ -0,0 +1,114 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_WORLD_MODEL_H_ +#define TRAJECTORY_ROLLOUT_WORLD_MODEL_H_ + +#include +#include +#include +#include +#include + +namespace base_local_planner { + /** + * @class WorldModel + * @brief An interface the trajectory controller uses to interact with the + * world regardless of the underlying world model. + */ + class WorldModel{ + public: + /** + * @brief Subclass will implement this method to check a footprint at a given position and orientation for legality in the world + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise: + * -1 if footprint covers at least a lethal obstacle cell, or + * -2 if footprint covers at least a no-information cell, or + * -3 if footprint is partially or totally outside of the map + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius) = 0; + + double footprintCost(double x, double y, double theta, const std::vector& footprint_spec, double inscribed_radius = 0.0, double circumscribed_radius=0.0){ + + double cos_th = cos(theta); + double sin_th = sin(theta); + std::vector oriented_footprint; + for(unsigned int i = 0; i < footprint_spec.size(); ++i){ + geometry_msgs::Point new_pt; + new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + oriented_footprint.push_back(new_pt); + } + + geometry_msgs::Point robot_position; + robot_position.x = x; + robot_position.y = y; + + if(inscribed_radius==0.0){ + costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius, circumscribed_radius); + } + + return footprintCost(robot_position, oriented_footprint, inscribed_radius, circumscribed_radius); + } + + /** + * @brief Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius, double extra) { + return footprintCost(position, footprint, inscribed_radius, circumscribed_radius); + } + + /** + * @brief Subclass will implement a destructor + */ + virtual ~WorldModel(){} + + protected: + WorldModel(){} + }; + +}; +#endif diff --git a/src/navigation/base_local_planner/msg/Position2DInt.msg b/src/navigation/base_local_planner/msg/Position2DInt.msg new file mode 100644 index 0000000..7d5c799 --- /dev/null +++ b/src/navigation/base_local_planner/msg/Position2DInt.msg @@ -0,0 +1,2 @@ +int64 x +int64 y \ No newline at end of file diff --git a/src/navigation/base_local_planner/package.xml b/src/navigation/base_local_planner/package.xml new file mode 100644 index 0000000..db0cdab --- /dev/null +++ b/src/navigation/base_local_planner/package.xml @@ -0,0 +1,50 @@ + + + + base_local_planner + 1.17.2 + + + This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane. Given a plan to follow and a costmap, the controller produces velocity commands to send to a mobile base. This package supports both holonomic and non-holonomic robots, any robot footprint that can be represented as a convex polygon or circle, and exposes its configuration as ROS parameters that can be set in a launch file. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the nav_core package. + + + Eitan Marder-Eppstein + Eric Perko + contradict@gmail.com + Michael Ferguson + David V. Lu!! + Aaron Hoy + BSD + http://wiki.ros.org/base_local_planner + + catkin + + cmake_modules + message_generation + tf2_geometry_msgs + + angles + costmap_2d + dynamic_reconfigure + eigen + geometry_msgs + nav_core + nav_msgs + pluginlib + sensor_msgs + std_msgs + rosconsole + roscpp + rospy + tf2 + tf2_ros + visualization_msgs + voxel_grid + + message_runtime + + rosunit + + + + diff --git a/src/navigation/base_local_planner/setup.py b/src/navigation/base_local_planner/setup.py new file mode 100644 index 0000000..1a2957b --- /dev/null +++ b/src/navigation/base_local_planner/setup.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages = ['local_planner_limits'], + package_dir = {'': 'src'}, + ) + +setup(**d) diff --git a/src/navigation/base_local_planner/src/costmap_model.cpp b/src/navigation/base_local_planner/src/costmap_model.cpp new file mode 100644 index 0000000..2f7896f --- /dev/null +++ b/src/navigation/base_local_planner/src/costmap_model.cpp @@ -0,0 +1,145 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + CostmapModel::CostmapModel(const Costmap2D& ma) : costmap_(ma) {} + + double CostmapModel::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + // returns: + // -1 if footprint covers at least a lethal obstacle cell, or + // -2 if footprint covers at least a no-information cell, or + // -3 if footprint is [partially] outside of the map, or + // a positive value for traversable space + + //used to put things into grid coordinates + unsigned int cell_x, cell_y; + + //get the cell coord of the center point of the robot + if(!costmap_.worldToMap(position.x, position.y, cell_x, cell_y)) + return -3.0; + + //if number of points in the footprint is less than 3, we'll just assume a circular robot + if(footprint.size() < 3){ + unsigned char cost = costmap_.getCost(cell_x, cell_y); + if(cost == NO_INFORMATION) + return -2.0; + if(cost == LETHAL_OBSTACLE || cost == INSCRIBED_INFLATED_OBSTACLE) + return -1.0; + return cost; + } + + //now we really have to lay down the footprint in the costmap grid + unsigned int x0, x1, y0, y1; + double line_cost = 0.0; + double footprint_cost = 0.0; + + //we need to rasterize each line in the footprint + for(unsigned int i = 0; i < footprint.size() - 1; ++i){ + //get the cell coord of the first point + if(!costmap_.worldToMap(footprint[i].x, footprint[i].y, x0, y0)) + return -3.0; + + //get the cell coord of the second point + if(!costmap_.worldToMap(footprint[i + 1].x, footprint[i + 1].y, x1, y1)) + return -3.0; + + line_cost = lineCost(x0, x1, y0, y1); + footprint_cost = std::max(line_cost, footprint_cost); + + //if there is an obstacle that hits the line... we know that we can return false right away + if(line_cost < 0) + return line_cost; + } + + //we also need to connect the first point in the footprint to the last point + //get the cell coord of the last point + if(!costmap_.worldToMap(footprint.back().x, footprint.back().y, x0, y0)) + return -3.0; + + //get the cell coord of the first point + if(!costmap_.worldToMap(footprint.front().x, footprint.front().y, x1, y1)) + return -3.0; + + line_cost = lineCost(x0, x1, y0, y1); + footprint_cost = std::max(line_cost, footprint_cost); + + if(line_cost < 0) + return line_cost; + + //if all line costs are legal... then we can return that the footprint is legal + return footprint_cost; + + } + + //calculate the cost of a ray-traced line + double CostmapModel::lineCost(int x0, int x1, int y0, int y1) const { + double line_cost = 0.0; + double point_cost = -1.0; + + for( LineIterator line( x0, y0, x1, y1 ); line.isValid(); line.advance() ) + { + point_cost = pointCost( line.getX(), line.getY() ); //Score the current point + + if(point_cost < 0) + return point_cost; + + if(line_cost < point_cost) + line_cost = point_cost; + } + + return line_cost; + } + + double CostmapModel::pointCost(int x, int y) const { + unsigned char cost = costmap_.getCost(x, y); + //if the cell is in an obstacle the path is invalid + if(cost == NO_INFORMATION) + return -2; + if(cost == LETHAL_OBSTACLE) + return -1; + + return cost; + } + +}; diff --git a/src/navigation/base_local_planner/src/footprint_helper.cpp b/src/navigation/base_local_planner/src/footprint_helper.cpp new file mode 100644 index 0000000..d94da1c --- /dev/null +++ b/src/navigation/base_local_planner/src/footprint_helper.cpp @@ -0,0 +1,248 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include + +namespace base_local_planner { + +FootprintHelper::FootprintHelper() { + // TODO Auto-generated constructor stub + +} + +FootprintHelper::~FootprintHelper() { + // TODO Auto-generated destructor stub +} + +void FootprintHelper::getLineCells(int x0, int x1, int y0, int y1, std::vector& pts) { + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + base_local_planner::Position2DInt pt; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) + { + pt.x = x; //Draw the current pixel + pt.y = y; + pts.push_back(pt); + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) // Check if numerator >= denominator + { + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } +} + + +void FootprintHelper::getFillCells(std::vector& footprint){ + //quick bubble sort to sort pts by x + base_local_planner::Position2DInt swap, pt; + unsigned int i = 0; + while (i < footprint.size() - 1) { + if (footprint[i].x > footprint[i + 1].x) { + swap = footprint[i]; + footprint[i] = footprint[i + 1]; + footprint[i + 1] = swap; + if(i > 0) { + --i; + } + } else { + ++i; + } + } + + i = 0; + base_local_planner::Position2DInt min_pt; + base_local_planner::Position2DInt max_pt; + unsigned int min_x = footprint[0].x; + unsigned int max_x = footprint[footprint.size() -1].x; + //walk through each column and mark cells inside the footprint + for (unsigned int x = min_x; x <= max_x; ++x) { + if (i >= footprint.size() - 1) { + break; + } + if (footprint[i].y < footprint[i + 1].y) { + min_pt = footprint[i]; + max_pt = footprint[i + 1]; + } else { + min_pt = footprint[i + 1]; + max_pt = footprint[i]; + } + + i += 2; + while (i < footprint.size() && footprint[i].x == x) { + if(footprint[i].y < min_pt.y) { + min_pt = footprint[i]; + } else if(footprint[i].y > max_pt.y) { + max_pt = footprint[i]; + } + ++i; + } + + //loop though cells in the column + for (unsigned int y = min_pt.y; y < max_pt.y; ++y) { + pt.x = x; + pt.y = y; + footprint.push_back(pt); + } + } +} + +/** + * get the cellsof a footprint at a given position + */ +std::vector FootprintHelper::getFootprintCells( + Eigen::Vector3f pos, + std::vector footprint_spec, + const costmap_2d::Costmap2D& costmap, + bool fill){ + double x_i = pos[0]; + double y_i = pos[1]; + double theta_i = pos[2]; + std::vector footprint_cells; + + //if we have no footprint... do nothing + if (footprint_spec.size() <= 1) { + unsigned int mx, my; + if (costmap.worldToMap(x_i, y_i, mx, my)) { + Position2DInt center; + center.x = mx; + center.y = my; + footprint_cells.push_back(center); + } + return footprint_cells; + } + + //pre-compute cos and sin values + double cos_th = cos(theta_i); + double sin_th = sin(theta_i); + double new_x, new_y; + unsigned int x0, y0, x1, y1; + unsigned int last_index = footprint_spec.size() - 1; + + for (unsigned int i = 0; i < last_index; ++i) { + //find the cell coordinates of the first segment point + new_x = x_i + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_y = y_i + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + + //find the cell coordinates of the second segment point + new_x = x_i + (footprint_spec[i + 1].x * cos_th - footprint_spec[i + 1].y * sin_th); + new_y = y_i + (footprint_spec[i + 1].x * sin_th + footprint_spec[i + 1].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + } + + //we need to close the loop, so we also have to raytrace from the last pt to first pt + new_x = x_i + (footprint_spec[last_index].x * cos_th - footprint_spec[last_index].y * sin_th); + new_y = y_i + (footprint_spec[last_index].x * sin_th + footprint_spec[last_index].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + new_x = x_i + (footprint_spec[0].x * cos_th - footprint_spec[0].y * sin_th); + new_y = y_i + (footprint_spec[0].x * sin_th + footprint_spec[0].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + + if(fill) { + getFillCells(footprint_cells); + } + + return footprint_cells; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/goal_functions.cpp b/src/navigation/base_local_planner/src/goal_functions.cpp new file mode 100644 index 0000000..ca705a7 --- /dev/null +++ b/src/navigation/base_local_planner/src/goal_functions.cpp @@ -0,0 +1,245 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#ifdef _MSC_VER +#define GOAL_ATTRIBUTE_UNUSED +#else +#define GOAL_ATTRIBUTE_UNUSED __attribute__ ((unused)) +#endif + +namespace base_local_planner { + + double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y) { + return hypot(goal_x - global_pose.pose.position.x, goal_y - global_pose.pose.position.y); + } + + double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th) { + double yaw = tf2::getYaw(global_pose.pose.orientation); + return angles::shortest_angular_distance(yaw, goal_th); + } + + void publishPlan(const std::vector& path, const ros::Publisher& pub) { + //given an empty path we won't do anything + if(path.empty()) + return; + + //create a path message + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for(unsigned int i=0; i < path.size(); i++){ + gui_path.poses[i] = path[i]; + } + + pub.publish(gui_path); + } + + void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector& plan, std::vector& global_plan){ + ROS_ASSERT(global_plan.size() >= plan.size()); + std::vector::iterator it = plan.begin(); + std::vector::iterator global_it = global_plan.begin(); + while(it != plan.end()){ + const geometry_msgs::PoseStamped& w = *it; + // Fixed error bound of 2 meters for now. Can reduce to a portion of the map size or based on the resolution + double x_diff = global_pose.pose.position.x - w.pose.position.x; + double y_diff = global_pose.pose.position.y - w.pose.position.y; + double distance_sq = x_diff * x_diff + y_diff * y_diff; + if(distance_sq < 1){ + ROS_DEBUG("Nearest waypoint to <%f, %f> is <%f, %f>\n", global_pose.pose.position.x, global_pose.pose.position.y, w.pose.position.x, w.pose.position.y); + break; + } + it = plan.erase(it); + global_it = global_plan.erase(global_it); + } + } + + bool transformGlobalPlan( + const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_pose, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + std::vector& transformed_plan){ + transformed_plan.clear(); + + if (global_plan.empty()) { + ROS_ERROR("Received plan with zero length"); + return false; + } + + const geometry_msgs::PoseStamped& plan_pose = global_plan[0]; + try { + // get plan_to_global_transform from plan frame to global_frame + geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, ros::Time(), + plan_pose.header.frame_id, plan_pose.header.stamp, plan_pose.header.frame_id, ros::Duration(0.5)); + + //let's get the pose of the robot in the frame of the plan + geometry_msgs::PoseStamped robot_pose; + tf.transform(global_pose, robot_pose, plan_pose.header.frame_id); + + //we'll discard points on the plan that are outside the local costmap + double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0, + costmap.getSizeInCellsY() * costmap.getResolution() / 2.0); + + unsigned int i = 0; + double sq_dist_threshold = dist_threshold * dist_threshold; + double sq_dist = 0; + + //we need to loop to a point on the plan that is within a certain distance of the robot + while(i < (unsigned int)global_plan.size()) { + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + if (sq_dist <= sq_dist_threshold) { + break; + } + ++i; + } + + geometry_msgs::PoseStamped newer_pose; + + //now we'll transform until points are outside of our distance threshold + while(i < (unsigned int)global_plan.size() && sq_dist <= sq_dist_threshold) { + const geometry_msgs::PoseStamped& pose = global_plan[i]; + tf2::doTransform(pose, newer_pose, plan_to_global_transform); + + transformed_plan.push_back(newer_pose); + + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + + ++i; + } + } + catch(tf2::LookupException& ex) { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (!global_plan.empty()) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + + return true; + } + + bool getGoalPose(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const std::string& global_frame, geometry_msgs::PoseStamped &goal_pose) { + if (global_plan.empty()) + { + ROS_ERROR("Received plan with zero length"); + return false; + } + + const geometry_msgs::PoseStamped& plan_goal_pose = global_plan.back(); + try{ + geometry_msgs::TransformStamped transform = tf.lookupTransform(global_frame, ros::Time(), + plan_goal_pose.header.frame_id, plan_goal_pose.header.stamp, + plan_goal_pose.header.frame_id, ros::Duration(0.5)); + + tf2::doTransform(plan_goal_pose, goal_pose, transform); + } + catch(tf2::LookupException& ex) { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (global_plan.size() > 0) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + return true; + } + + bool isGoalReached(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const costmap_2d::Costmap2D& costmap GOAL_ATTRIBUTE_UNUSED, + const std::string& global_frame, + geometry_msgs::PoseStamped& global_pose, + const nav_msgs::Odometry& base_odom, + double rot_stopped_vel, double trans_stopped_vel, + double xy_goal_tolerance, double yaw_goal_tolerance){ + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + getGoalPose(tf, global_plan, global_frame, goal_pose); + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + + //check to see if we've reached the goal position + if(getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + //check to see if the goal orientation has been reached + if(fabs(getGoalOrientationAngleDifference(global_pose, goal_th)) <= yaw_goal_tolerance) { + //make sure that we're actually stopped before returning success + if(stopped(base_odom, rot_stopped_vel, trans_stopped_vel)) + return true; + } + } + + return false; + } + + bool stopped(const nav_msgs::Odometry& base_odom, + const double& rot_stopped_velocity, const double& trans_stopped_velocity){ + return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity + && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity + && fabs(base_odom.twist.twist.linear.y) <= trans_stopped_velocity; + } +}; diff --git a/src/navigation/base_local_planner/src/latched_stop_rotate_controller.cpp b/src/navigation/base_local_planner/src/latched_stop_rotate_controller.cpp new file mode 100644 index 0000000..9977a87 --- /dev/null +++ b/src/navigation/base_local_planner/src/latched_stop_rotate_controller.cpp @@ -0,0 +1,278 @@ +/* + * latched_stop_rotate_controller.cpp + * + * Created on: Apr 16, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +#include +#include + +#include +#include + +#include + +namespace base_local_planner { + +LatchedStopRotateController::LatchedStopRotateController(const std::string& name) { + ros::NodeHandle private_nh("~/" + name); + private_nh.param("latch_xy_goal_tolerance", latch_xy_goal_tolerance_, false); + + rotating_to_goal_ = false; +} + +LatchedStopRotateController::~LatchedStopRotateController() {} + + +/** + * returns true if we have passed the goal position. + * Meaning we might have overshot on the position beyond tolerance, yet still return true. + * Also goal orientation might not yet be true + */ +bool LatchedStopRotateController::isPositionReached(LocalPlannerUtil* planner_util, + const geometry_msgs::PoseStamped& global_pose) { + double xy_goal_tolerance = planner_util->getCurrentLimits().xy_goal_tolerance; + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + return false; + } + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + + //check to see if we've reached the goal position + if ((latch_xy_goal_tolerance_ && xy_tolerance_latch_) || + base_local_planner::getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + xy_tolerance_latch_ = true; + return true; + } + return false; +} + + +/** + * returns true if we have passed the goal position and have reached goal orientation. + * Meaning we might have overshot on the position beyond tolerance, yet still return true. + */ +bool LatchedStopRotateController::isGoalReached(LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose) { + double xy_goal_tolerance = planner_util->getCurrentLimits().xy_goal_tolerance; + double theta_stopped_vel = planner_util->getCurrentLimits().theta_stopped_vel; + double trans_stopped_vel = planner_util->getCurrentLimits().trans_stopped_vel; + + //copy over the odometry information + nav_msgs::Odometry base_odom; + odom_helper.getOdom(base_odom); + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + return false; + } + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + + base_local_planner::LocalPlannerLimits limits = planner_util->getCurrentLimits(); + + //check to see if we've reached the goal position + if ((latch_xy_goal_tolerance_ && xy_tolerance_latch_) || + base_local_planner::getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_ && ! xy_tolerance_latch_) { + ROS_DEBUG("Goal position reached (check), stopping and turning in place"); + xy_tolerance_latch_ = true; + } + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + double angle = base_local_planner::getGoalOrientationAngleDifference(global_pose, goal_th); + //check to see if the goal orientation has been reached + if (fabs(angle) <= limits.yaw_goal_tolerance) { + //make sure that we're actually stopped before returning success + if (base_local_planner::stopped(base_odom, theta_stopped_vel, trans_stopped_vel)) { + return true; + } + } + } + return false; +} + +bool LatchedStopRotateController::stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + boost::function obstacle_check) { + + //slow down with the maximum possible acceleration... we should really use the frequency that we're running at to determine what is feasible + //but we'll use a tenth of a second to be consistent with the implementation of the local planner. + double vx = sign(robot_vel.pose.position.x) * std::max(0.0, (fabs(robot_vel.pose.position.x) - acc_lim[0] * sim_period)); + double vy = sign(robot_vel.pose.position.y) * std::max(0.0, (fabs(robot_vel.pose.position.y) - acc_lim[1] * sim_period)); + + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + double vth = sign(vel_yaw) * std::max(0.0, (fabs(vel_yaw) - acc_lim[2] * sim_period)); + + //we do want to check whether or not the command is valid + double yaw = tf2::getYaw(global_pose.pose.orientation); + bool valid_cmd = obstacle_check(Eigen::Vector3f(global_pose.pose.position.x, global_pose.pose.position.y, yaw), + Eigen::Vector3f(robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw), + Eigen::Vector3f(vx, vy, vth)); + + //if we have a valid command, we'll pass it on, otherwise we'll command all zeros + if(valid_cmd){ + ROS_DEBUG_NAMED("latched_stop_rotate", "Slowing down... using vx, vy, vth: %.2f, %.2f, %.2f", vx, vy, vth); + cmd_vel.linear.x = vx; + cmd_vel.linear.y = vy; + cmd_vel.angular.z = vth; + return true; + } + ROS_WARN("Stopping cmd in collision"); + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + return false; +} + +bool LatchedStopRotateController::rotateToGoal( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + double goal_th, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + base_local_planner::LocalPlannerLimits& limits, + boost::function obstacle_check) { + double yaw = tf2::getYaw(global_pose.pose.orientation); + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + cmd_vel.linear.x = 0; + cmd_vel.linear.y = 0; + double ang_diff = angles::shortest_angular_distance(yaw, goal_th); + + double v_theta_samp = std::min(limits.max_vel_theta, std::max(limits.min_vel_theta, fabs(ang_diff))); + + //take the acceleration limits of the robot into account + double max_acc_vel = fabs(vel_yaw) + acc_lim[2] * sim_period; + double min_acc_vel = fabs(vel_yaw) - acc_lim[2] * sim_period; + + v_theta_samp = std::min(std::max(fabs(v_theta_samp), min_acc_vel), max_acc_vel); + + //we also want to make sure to send a velocity that allows us to stop when we reach the goal given our acceleration limits + double max_speed_to_stop = sqrt(2 * acc_lim[2] * fabs(ang_diff)); + v_theta_samp = std::min(max_speed_to_stop, fabs(v_theta_samp)); + + v_theta_samp = std::min(limits.max_vel_theta, std::max(limits.min_vel_theta, v_theta_samp)); + + if (ang_diff < 0) { + v_theta_samp = - v_theta_samp; + } + + //we still want to lay down the footprint of the robot and check if the action is legal + bool valid_cmd = obstacle_check(Eigen::Vector3f(global_pose.pose.position.x, global_pose.pose.position.y, yaw), + Eigen::Vector3f(robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw), + Eigen::Vector3f( 0.0, 0.0, v_theta_samp)); + + if (valid_cmd) { + ROS_DEBUG_NAMED("dwa_local_planner", "Moving to desired goal orientation, th cmd: %.2f, valid_cmd: %d", v_theta_samp, valid_cmd); + cmd_vel.angular.z = v_theta_samp; + return true; + } + ROS_WARN("Rotation cmd in collision"); + cmd_vel.angular.z = 0.0; + return false; + +} + +bool LatchedStopRotateController::computeVelocityCommandsStopRotate(geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper_, + const geometry_msgs::PoseStamped& global_pose, + boost::function obstacle_check) { + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + ROS_ERROR("Could not get goal pose"); + return false; + } + + base_local_planner::LocalPlannerLimits limits = planner_util->getCurrentLimits(); + + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_ && ! xy_tolerance_latch_ ) { + ROS_INFO("Goal position reached, stopping and turning in place"); + xy_tolerance_latch_ = true; + } + //check to see if the goal orientation has been reached + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + double angle = base_local_planner::getGoalOrientationAngleDifference(global_pose, goal_th); + if (fabs(angle) <= limits.yaw_goal_tolerance) { + //set the velocity command to zero + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + rotating_to_goal_ = false; + } else { + ROS_DEBUG("Angle: %f Tolerance: %f", angle, limits.yaw_goal_tolerance); + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + nav_msgs::Odometry base_odom; + odom_helper_.getOdom(base_odom); + + //if we're not stopped yet... we want to stop... taking into account the acceleration limits of the robot + if ( ! rotating_to_goal_ && !base_local_planner::stopped(base_odom, limits.theta_stopped_vel, limits.trans_stopped_vel)) { + if ( ! stopWithAccLimits( + global_pose, + robot_vel, + cmd_vel, + acc_lim, + sim_period, + obstacle_check)) { + ROS_INFO("Error when stopping."); + return false; + } + ROS_DEBUG("Stopping..."); + } + //if we're stopped... then we want to rotate to goal + else { + //set this so that we know its OK to be moving + rotating_to_goal_ = true; + if ( ! rotateToGoal( + global_pose, + robot_vel, + goal_th, + cmd_vel, + acc_lim, + sim_period, + limits, + obstacle_check)) { + ROS_INFO("Error when rotating."); + return false; + } + ROS_DEBUG("Rotating..."); + } + } + + return true; + +} + + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/local_planner_limits/.gitignore b/src/navigation/base_local_planner/src/local_planner_limits/.gitignore new file mode 100644 index 0000000..0d20b64 --- /dev/null +++ b/src/navigation/base_local_planner/src/local_planner_limits/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/src/navigation/base_local_planner/src/local_planner_limits/__init__.py b/src/navigation/base_local_planner/src/local_planner_limits/__init__.py new file mode 100644 index 0000000..03fa1de --- /dev/null +++ b/src/navigation/base_local_planner/src/local_planner_limits/__init__.py @@ -0,0 +1,41 @@ +# Generic set of parameters to use with base local planners +# To use: +# +# from local_planner_limits import add_generic_localplanner_params +# gen = ParameterGenerator() +# add_generic_localplanner_params(gen) +# ... +# +# Using these standard parameters instead of your own allows easier switching of local planners + +# need this only for dataype declarations +from dynamic_reconfigure.parameter_generator_catkin import double_t, bool_t + + +def add_generic_localplanner_params(gen): + # velocities + gen.add("max_vel_trans", double_t, 0, "The absolute value of the maximum translational velocity for the robot in m/s", 0.55, 0) + gen.add("min_vel_trans", double_t, 0, "The absolute value of the minimum translational velocity for the robot in m/s", 0.1, 0) + + gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55) + gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0) + + gen.add("max_vel_y", double_t, 0, "The maximum y velocity for the robot in m/s", 0.1) + gen.add("min_vel_y", double_t, 0, "The minimum y velocity for the robot in m/s", -0.1) + + gen.add("max_vel_theta", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", 1.0, 0) + gen.add("min_vel_theta", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", 0.4, 0) + + # acceleration + gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0) + gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0) + gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0) + gen.add("acc_lim_trans", double_t, 0, "The absolute value of the maximum translational acceleration for the robot in m/s^2", 0.1, 0) + + gen.add("prune_plan", bool_t, 0, "Start following closest point of global plan, not first point (if different).", False) + + gen.add("xy_goal_tolerance", double_t, 0, "Within what maximum distance we consider the robot to be in goal", 0.1) + gen.add("yaw_goal_tolerance", double_t, 0, "Within what maximum angle difference we consider the robot to face goal direction", 0.1) + + gen.add("trans_stopped_vel", double_t, 0, "Below what maximum velocity we consider the robot to be stopped in translation", 0.1) + gen.add("theta_stopped_vel", double_t, 0, "Below what maximum rotation velocity we consider the robot to be stopped in rotation", 0.1) diff --git a/src/navigation/base_local_planner/src/local_planner_util.cpp b/src/navigation/base_local_planner/src/local_planner_util.cpp new file mode 100644 index 0000000..fa4b1e2 --- /dev/null +++ b/src/navigation/base_local_planner/src/local_planner_util.cpp @@ -0,0 +1,128 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + +void LocalPlannerUtil::initialize( + tf2_ros::Buffer* tf, + costmap_2d::Costmap2D* costmap, + std::string global_frame) { + if(!initialized_) { + tf_ = tf; + costmap_ = costmap; + global_frame_ = global_frame; + initialized_ = true; + } + else{ + ROS_WARN("Planner utils have already been initialized, doing nothing."); + } +} + +void LocalPlannerUtil::reconfigureCB(LocalPlannerLimits &config, bool restore_defaults) +{ + if(setup_ && restore_defaults) { + config = default_limits_; + } + + if(!setup_) { + default_limits_ = config; + setup_ = true; + } + boost::mutex::scoped_lock l(limits_configuration_mutex_); + limits_ = LocalPlannerLimits(config); +} + +costmap_2d::Costmap2D* LocalPlannerUtil::getCostmap() { + return costmap_; +} + +LocalPlannerLimits LocalPlannerUtil::getCurrentLimits() { + boost::mutex::scoped_lock l(limits_configuration_mutex_); + return limits_; +} + + +bool LocalPlannerUtil::getGoal(geometry_msgs::PoseStamped& goal_pose) { + //we assume the global goal is the last point in the global plan + return base_local_planner::getGoalPose(*tf_, + global_plan_, + global_frame_, + goal_pose); +} + +bool LocalPlannerUtil::setPlan(const std::vector& orig_global_plan) { + if(!initialized_){ + ROS_ERROR("Planner utils have not been initialized, please call initialize() first"); + return false; + } + + //reset the global plan + global_plan_.clear(); + + global_plan_ = orig_global_plan; + + return true; +} + +bool LocalPlannerUtil::getLocalPlan(const geometry_msgs::PoseStamped& global_pose, std::vector& transformed_plan) { + //get the global plan in our frame + if(!base_local_planner::transformGlobalPlan( + *tf_, + global_plan_, + global_pose, + *costmap_, + global_frame_, + transformed_plan)) { + ROS_WARN("Could not transform the global plan to the frame of the controller"); + return false; + } + + //now we'll prune the plan based on the position of the robot + if(limits_.prune_plan) { + base_local_planner::prunePlan(global_pose, transformed_plan, global_plan_); + } + return true; +} + + + + +} // namespace diff --git a/src/navigation/base_local_planner/src/map_cell.cpp b/src/navigation/base_local_planner/src/map_cell.cpp new file mode 100644 index 0000000..13a35fc --- /dev/null +++ b/src/navigation/base_local_planner/src/map_cell.cpp @@ -0,0 +1,52 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ + +#include + +namespace base_local_planner{ + + MapCell::MapCell() + : cx(0), cy(0), + target_dist(DBL_MAX), + target_mark(false), + within_robot(false) + {} + + MapCell::MapCell(const MapCell& mc) + : cx(mc.cx), cy(mc.cy), + target_dist(mc.target_dist), + target_mark(mc.target_mark), + within_robot(mc.within_robot) + {} +}; diff --git a/src/navigation/base_local_planner/src/map_grid.cpp b/src/navigation/base_local_planner/src/map_grid.cpp new file mode 100644 index 0000000..a100a8a --- /dev/null +++ b/src/navigation/base_local_planner/src/map_grid.cpp @@ -0,0 +1,309 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ +#include +#include +using namespace std; + +namespace base_local_planner{ + + MapGrid::MapGrid() + : size_x_(0), size_y_(0) + { + } + + MapGrid::MapGrid(unsigned int size_x, unsigned int size_y) + : size_x_(size_x), size_y_(size_y) + { + commonInit(); + } + + MapGrid::MapGrid(const MapGrid& mg){ + size_y_ = mg.size_y_; + size_x_ = mg.size_x_; + map_ = mg.map_; + } + + void MapGrid::commonInit(){ + //don't allow construction of zero size grid + ROS_ASSERT(size_y_ != 0 && size_x_ != 0); + + map_.resize(size_y_ * size_x_); + + //make each cell aware of its location in the grid + for(unsigned int i = 0; i < size_y_; ++i){ + for(unsigned int j = 0; j < size_x_; ++j){ + unsigned int id = size_x_ * i + j; + map_[id].cx = j; + map_[id].cy = i; + } + } + } + + size_t MapGrid::getIndex(int x, int y){ + return size_x_ * y + x; + } + + MapGrid& MapGrid::operator= (const MapGrid& mg){ + size_y_ = mg.size_y_; + size_x_ = mg.size_x_; + map_ = mg.map_; + return *this; + } + + void MapGrid::sizeCheck(unsigned int size_x, unsigned int size_y){ + if(map_.size() != size_x * size_y) + map_.resize(size_x * size_y); + + if(size_x_ != size_x || size_y_ != size_y){ + size_x_ = size_x; + size_y_ = size_y; + + for(unsigned int i = 0; i < size_y_; ++i){ + for(unsigned int j = 0; j < size_x_; ++j){ + int index = size_x_ * i + j; + map_[index].cx = j; + map_[index].cy = i; + } + } + } + } + + + inline bool MapGrid::updatePathCell(MapCell* current_cell, MapCell* check_cell, + const costmap_2d::Costmap2D& costmap){ + + //if the cell is an obstacle set the max path distance + unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy); + if(! getCell(check_cell->cx, check_cell->cy).within_robot && + (cost == costmap_2d::LETHAL_OBSTACLE || + cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || + cost == costmap_2d::NO_INFORMATION)){ + check_cell->target_dist = obstacleCosts(); + return false; + } + + double new_target_dist = current_cell->target_dist + 1; + if (new_target_dist < check_cell->target_dist) { + check_cell->target_dist = new_target_dist; + } + return true; + } + + + //reset the path_dist and goal_dist fields for all cells + void MapGrid::resetPathDist(){ + for(unsigned int i = 0; i < map_.size(); ++i) { + map_[i].target_dist = unreachableCellCosts(); + map_[i].target_mark = false; + map_[i].within_robot = false; + } + } + + void MapGrid::adjustPlanResolution(const std::vector& global_plan_in, + std::vector& global_plan_out, double resolution) { + if (global_plan_in.size() == 0) { + return; + } + double last_x = global_plan_in[0].pose.position.x; + double last_y = global_plan_in[0].pose.position.y; + global_plan_out.push_back(global_plan_in[0]); + + double min_sq_resolution = resolution * resolution; + + for (unsigned int i = 1; i < global_plan_in.size(); ++i) { + double loop_x = global_plan_in[i].pose.position.x; + double loop_y = global_plan_in[i].pose.position.y; + double sqdist = (loop_x - last_x) * (loop_x - last_x) + (loop_y - last_y) * (loop_y - last_y); + if (sqdist > min_sq_resolution) { + int steps = ceil((sqrt(sqdist)) / resolution); + // add a points in-between + double deltax = (loop_x - last_x) / steps; + double deltay = (loop_y - last_y) / steps; + // TODO: Interpolate orientation + for (int j = 1; j < steps; ++j) { + geometry_msgs::PoseStamped pose; + pose.pose.position.x = last_x + j * deltax; + pose.pose.position.y = last_y + j * deltay; + pose.pose.position.z = global_plan_in[i].pose.position.z; + pose.pose.orientation = global_plan_in[i].pose.orientation; + pose.header = global_plan_in[i].header; + global_plan_out.push_back(pose); + } + } + global_plan_out.push_back(global_plan_in[i]); + last_x = loop_x; + last_y = loop_y; + } + } + + //update what map cells are considered path based on the global_plan + void MapGrid::setTargetCells(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan) { + sizeCheck(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()); + + bool started_path = false; + + queue path_dist_queue; + + std::vector adjusted_global_plan; + adjustPlanResolution(global_plan, adjusted_global_plan, costmap.getResolution()); + if (adjusted_global_plan.size() != global_plan.size()) { + ROS_DEBUG("Adjusted global plan resolution, added %zu points", adjusted_global_plan.size() - global_plan.size()); + } + unsigned int i; + // put global path points into local map until we reach the border of the local map + for (i = 0; i < adjusted_global_plan.size(); ++i) { + double g_x = adjusted_global_plan[i].pose.position.x; + double g_y = adjusted_global_plan[i].pose.position.y; + unsigned int map_x, map_y; + if (costmap.worldToMap(g_x, g_y, map_x, map_y) && costmap.getCost(map_x, map_y) != costmap_2d::NO_INFORMATION) { + MapCell& current = getCell(map_x, map_y); + current.target_dist = 0.0; + current.target_mark = true; + path_dist_queue.push(¤t); + started_path = true; + } else if (started_path) { + break; + } + } + if (!started_path) { + ROS_ERROR("None of the %d first of %zu (%zu) points of the global plan were in the local costmap and free", + i, adjusted_global_plan.size(), global_plan.size()); + return; + } + + computeTargetDistance(path_dist_queue, costmap); + } + + //mark the point of the costmap as local goal where global_plan first leaves the area (or its last point) + void MapGrid::setLocalGoal(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan) { + sizeCheck(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()); + + int local_goal_x = -1; + int local_goal_y = -1; + bool started_path = false; + + std::vector adjusted_global_plan; + adjustPlanResolution(global_plan, adjusted_global_plan, costmap.getResolution()); + + // skip global path points until we reach the border of the local map + for (unsigned int i = 0; i < adjusted_global_plan.size(); ++i) { + double g_x = adjusted_global_plan[i].pose.position.x; + double g_y = adjusted_global_plan[i].pose.position.y; + unsigned int map_x, map_y; + if (costmap.worldToMap(g_x, g_y, map_x, map_y) && costmap.getCost(map_x, map_y) != costmap_2d::NO_INFORMATION) { + local_goal_x = map_x; + local_goal_y = map_y; + started_path = true; + } else { + if (started_path) { + break; + }// else we might have a non pruned path, so we just continue + } + } + if (!started_path) { + ROS_ERROR("None of the points of the global plan were in the local costmap, global plan points too far from robot"); + return; + } + + queue path_dist_queue; + if (local_goal_x >= 0 && local_goal_y >= 0) { + MapCell& current = getCell(local_goal_x, local_goal_y); + costmap.mapToWorld(local_goal_x, local_goal_y, goal_x_, goal_y_); + current.target_dist = 0.0; + current.target_mark = true; + path_dist_queue.push(¤t); + } + + computeTargetDistance(path_dist_queue, costmap); + } + + + + void MapGrid::computeTargetDistance(queue& dist_queue, const costmap_2d::Costmap2D& costmap){ + MapCell* current_cell; + MapCell* check_cell; + unsigned int last_col = size_x_ - 1; + unsigned int last_row = size_y_ - 1; + while(!dist_queue.empty()){ + current_cell = dist_queue.front(); + + + dist_queue.pop(); + + if(current_cell->cx > 0){ + check_cell = current_cell - 1; + if(!check_cell->target_mark){ + //mark the cell as visisted + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cx < last_col){ + check_cell = current_cell + 1; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cy > 0){ + check_cell = current_cell - size_x_; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cy < last_row){ + check_cell = current_cell + size_x_; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + } + } + +}; diff --git a/src/navigation/base_local_planner/src/map_grid_cost_function.cpp b/src/navigation/base_local_planner/src/map_grid_cost_function.cpp new file mode 100644 index 0000000..bb35116 --- /dev/null +++ b/src/navigation/base_local_planner/src/map_grid_cost_function.cpp @@ -0,0 +1,131 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include + +namespace base_local_planner { + +MapGridCostFunction::MapGridCostFunction(costmap_2d::Costmap2D* costmap, + double xshift, + double yshift, + bool is_local_goal_function, + CostAggregationType aggregationType) : + costmap_(costmap), + map_(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()), + aggregationType_(aggregationType), + xshift_(xshift), + yshift_(yshift), + is_local_goal_function_(is_local_goal_function), + stop_on_failure_(true) {} + +void MapGridCostFunction::setTargetPoses(std::vector target_poses) { + target_poses_ = target_poses; +} + +bool MapGridCostFunction::prepare() { + map_.resetPathDist(); + + if (is_local_goal_function_) { + map_.setLocalGoal(*costmap_, target_poses_); + } else { + map_.setTargetCells(*costmap_, target_poses_); + } + return true; +} + +double MapGridCostFunction::getCellCosts(unsigned int px, unsigned int py) { + double grid_dist = map_(px, py).target_dist; + return grid_dist; +} + +double MapGridCostFunction::scoreTrajectory(Trajectory &traj) { + double cost = 0.0; + if (aggregationType_ == Product) { + cost = 1.0; + } + double px, py, pth; + unsigned int cell_x, cell_y; + double grid_dist; + + for (unsigned int i = 0; i < traj.getPointsSize(); ++i) { + traj.getPoint(i, px, py, pth); + + // translate point forward if specified + if (xshift_ != 0.0) { + px = px + xshift_ * cos(pth); + py = py + xshift_ * sin(pth); + } + // translate point sideways if specified + if (yshift_ != 0.0) { + px = px + yshift_ * cos(pth + M_PI_2); + py = py + yshift_ * sin(pth + M_PI_2); + } + + //we won't allow trajectories that go off the map... shouldn't happen that often anyways + if ( ! costmap_->worldToMap(px, py, cell_x, cell_y)) { + //we're off the map + ROS_WARN("Off Map %f, %f", px, py); + return -4.0; + } + grid_dist = getCellCosts(cell_x, cell_y); + //if a point on this trajectory has no clear path to the goal... it may be invalid + if (stop_on_failure_) { + if (grid_dist == map_.obstacleCosts()) { + return -3.0; + } else if (grid_dist == map_.unreachableCellCosts()) { + return -2.0; + } + } + + switch( aggregationType_ ) { + case Last: + cost = grid_dist; + break; + case Sum: + cost += grid_dist; + break; + case Product: + if (cost > 0) { + cost *= grid_dist; + } + break; + } + } + return cost; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/map_grid_visualizer.cpp b/src/navigation/base_local_planner/src/map_grid_visualizer.cpp new file mode 100644 index 0000000..5f865ec --- /dev/null +++ b/src/navigation/base_local_planner/src/map_grid_visualizer.cpp @@ -0,0 +1,95 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010, Eric Perko + * 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 Eric Perko 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 OWNER 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. + *********************************************************************/ +#include +#include +#include + +#include +#include + +namespace base_local_planner { + MapGridVisualizer::MapGridVisualizer() {} + + + void MapGridVisualizer::initialize(const std::string& name, std::string frame_id, boost::function cost_function) { + name_ = name; + frame_id_ = frame_id; + cost_function_ = cost_function; + + ns_nh_ = ros::NodeHandle("~/" + name_); + pub_ = ns_nh_.advertise("cost_cloud", 1); + } + + void MapGridVisualizer::publishCostCloud(const costmap_2d::Costmap2D* costmap_p_) { + sensor_msgs::PointCloud2 cost_cloud; + cost_cloud.header.frame_id = frame_id_; + cost_cloud.header.stamp = ros::Time::now(); + + sensor_msgs::PointCloud2Modifier cloud_mod(cost_cloud); + cloud_mod.setPointCloud2Fields(7, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "path_cost", 1, sensor_msgs::PointField::FLOAT32, + "goal_cost", 1, sensor_msgs::PointField::FLOAT32, + "occ_cost", 1, sensor_msgs::PointField::FLOAT32, + "total_cost", 1, sensor_msgs::PointField::FLOAT32); + + unsigned int x_size = costmap_p_->getSizeInCellsX(); + unsigned int y_size = costmap_p_->getSizeInCellsY(); + double z_coord = 0.0; + double x_coord, y_coord; + + cloud_mod.resize(x_size * y_size); + sensor_msgs::PointCloud2Iterator iter_x(cost_cloud, "x"); + + float path_cost, goal_cost, occ_cost, total_cost; + for (unsigned int cx = 0; cx < x_size; cx++) { + for (unsigned int cy = 0; cy < y_size; cy++) { + costmap_p_->mapToWorld(cx, cy, x_coord, y_coord); + if (cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) { + iter_x[0] = x_coord; + iter_x[1] = y_coord; + iter_x[2] = z_coord; + iter_x[3] = path_cost; + iter_x[4] = goal_cost; + iter_x[5] = occ_cost; + iter_x[6] = total_cost; + ++iter_x; + } + } + } + pub_.publish(cost_cloud); + ROS_DEBUG("Cost PointCloud published"); + } +}; diff --git a/src/navigation/base_local_planner/src/obstacle_cost_function.cpp b/src/navigation/base_local_planner/src/obstacle_cost_function.cpp new file mode 100644 index 0000000..c71716d --- /dev/null +++ b/src/navigation/base_local_planner/src/obstacle_cost_function.cpp @@ -0,0 +1,152 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include +#include +#include +#include + +namespace base_local_planner { + +ObstacleCostFunction::ObstacleCostFunction(costmap_2d::Costmap2D* costmap) + : costmap_(costmap), sum_scores_(false) { + if (costmap != NULL) { + world_model_ = new base_local_planner::CostmapModel(*costmap_); + } +} + +ObstacleCostFunction::~ObstacleCostFunction() { + if (world_model_ != NULL) { + delete world_model_; + } +} + + +void ObstacleCostFunction::setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed) { + // TODO: move this to prepare if possible + max_trans_vel_ = max_trans_vel; + max_scaling_factor_ = max_scaling_factor; + scaling_speed_ = scaling_speed; +} + +void ObstacleCostFunction::setFootprint(std::vector footprint_spec) { + footprint_spec_ = footprint_spec; +} + +bool ObstacleCostFunction::prepare() { + return true; +} + +double ObstacleCostFunction::scoreTrajectory(Trajectory &traj) { + double cost = 0; + double scale = getScalingFactor(traj, scaling_speed_, max_trans_vel_, max_scaling_factor_); + double px, py, pth; + if (footprint_spec_.size() == 0) { + // Bug, should never happen + ROS_ERROR("Footprint spec is empty, maybe missing call to setFootprint?"); + return -9; + } + + for (unsigned int i = 0; i < traj.getPointsSize(); ++i) { + traj.getPoint(i, px, py, pth); + double f_cost = footprintCost(px, py, pth, + scale, footprint_spec_, + costmap_, world_model_); + + if(f_cost < 0){ + return f_cost; + } + + if(sum_scores_) + cost += f_cost; + else + cost = std::max(cost, f_cost); + } + return cost; +} + +double ObstacleCostFunction::getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor) { + double vmag = hypot(traj.xv_, traj.yv_); + + //if we're over a certain speed threshold, we'll scale the robot's + //footprint to make it either slow down or stay further from walls + double scale = 1.0; + if (vmag > scaling_speed) { + //scale up to the max scaling factor linearly... this could be changed later + double ratio = (vmag - scaling_speed) / (max_trans_vel - scaling_speed); + scale = max_scaling_factor * ratio + 1.0; + } + return scale; +} + +double ObstacleCostFunction::footprintCost ( + const double& x, + const double& y, + const double& th, + double scale, + std::vector footprint_spec, + costmap_2d::Costmap2D* costmap, + base_local_planner::WorldModel* world_model) { + + std::vector scaled_footprint; + for(unsigned int i = 0; i < footprint_spec.size(); ++i) { + geometry_msgs::Point new_pt; + new_pt.x = scale * footprint_spec[i].x; + new_pt.y = scale * footprint_spec[i].y; + scaled_footprint.push_back(new_pt); + } + + //check if the footprint is legal + // TODO: Cache inscribed radius + double footprint_cost = world_model->footprintCost(x, y, th, scaled_footprint); + + if (footprint_cost < 0) { + return -6.0; + } + unsigned int cell_x, cell_y; + + //we won't allow trajectories that go off the map... shouldn't happen that often anyways + if ( ! costmap->worldToMap(x, y, cell_x, cell_y)) { + return -7.0; + } + + double occ_cost = std::max(std::max(0.0, footprint_cost), double(costmap->getCost(cell_x, cell_y))); + + return occ_cost; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/odometry_helper_ros.cpp b/src/navigation/base_local_planner/src/odometry_helper_ros.cpp new file mode 100644 index 0000000..1563664 --- /dev/null +++ b/src/navigation/base_local_planner/src/odometry_helper_ros.cpp @@ -0,0 +1,106 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ +#include +#include +#include +#include + +namespace base_local_planner { + +OdometryHelperRos::OdometryHelperRos(std::string odom_topic) { + setOdomTopic( odom_topic ); +} + +void OdometryHelperRos::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) { + ROS_INFO_ONCE("odom received!"); + + //we assume that the odometry is published in the frame of the base + boost::mutex::scoped_lock lock(odom_mutex_); + base_odom_.twist.twist.linear.x = msg->twist.twist.linear.x; + base_odom_.twist.twist.linear.y = msg->twist.twist.linear.y; + base_odom_.twist.twist.angular.z = msg->twist.twist.angular.z; + base_odom_.child_frame_id = msg->child_frame_id; +// ROS_DEBUG_NAMED("dwa_local_planner", "In the odometry callback with velocity values: (%.2f, %.2f, %.2f)", +// base_odom_.twist.twist.linear.x, base_odom_.twist.twist.linear.y, base_odom_.twist.twist.angular.z); +} + +//copy over the odometry information +void OdometryHelperRos::getOdom(nav_msgs::Odometry& base_odom) { + boost::mutex::scoped_lock lock(odom_mutex_); + base_odom = base_odom_; +} + + +void OdometryHelperRos::getRobotVel(geometry_msgs::PoseStamped& robot_vel) { + // Set current velocities from odometry + geometry_msgs::Twist global_vel; + { + boost::mutex::scoped_lock lock(odom_mutex_); + global_vel.linear.x = base_odom_.twist.twist.linear.x; + global_vel.linear.y = base_odom_.twist.twist.linear.y; + global_vel.angular.z = base_odom_.twist.twist.angular.z; + + robot_vel.header.frame_id = base_odom_.child_frame_id; + } + robot_vel.pose.position.x = global_vel.linear.x; + robot_vel.pose.position.y = global_vel.linear.y; + robot_vel.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, global_vel.angular.z); + tf2::convert(q, robot_vel.pose.orientation); + robot_vel.header.stamp = ros::Time(); +} + +void OdometryHelperRos::setOdomTopic(std::string odom_topic) +{ + if( odom_topic != odom_topic_ ) + { + odom_topic_ = odom_topic; + + if( odom_topic_ != "" ) + { + ros::NodeHandle gn; + odom_sub_ = gn.subscribe( odom_topic_, 1, boost::bind( &OdometryHelperRos::odomCallback, this, _1 )); + } + else + { + odom_sub_.shutdown(); + } + } +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/oscillation_cost_function.cpp b/src/navigation/base_local_planner/src/oscillation_cost_function.cpp new file mode 100644 index 0000000..d24531d --- /dev/null +++ b/src/navigation/base_local_planner/src/oscillation_cost_function.cpp @@ -0,0 +1,178 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + +OscillationCostFunction::OscillationCostFunction() { +} + +OscillationCostFunction::~OscillationCostFunction() { + prev_stationary_pos_ = Eigen::Vector3f::Zero(); +} + +void OscillationCostFunction::setOscillationResetDist(double dist, double angle) { + oscillation_reset_dist_ = dist; + oscillation_reset_angle_ = angle; +} + +void OscillationCostFunction::updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans) { + if (traj->cost_ >= 0) { + if (setOscillationFlags(traj, min_vel_trans)) { + prev_stationary_pos_ = pos; + } + //if we've got restrictions... check if we can reset any oscillation flags + if(forward_pos_only_ || forward_neg_only_ + || strafe_pos_only_ || strafe_neg_only_ + || rot_pos_only_ || rot_neg_only_){ + resetOscillationFlagsIfPossible(pos, prev_stationary_pos_); + } + } +} + +void OscillationCostFunction::resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev) { + double x_diff = pos[0] - prev[0]; + double y_diff = pos[1] - prev[1]; + double sq_dist = x_diff * x_diff + y_diff * y_diff; + + double th_diff = pos[2] - prev[2]; + + //if we've moved far enough... we can reset our flags + if (sq_dist > oscillation_reset_dist_ * oscillation_reset_dist_ || + fabs(th_diff) > oscillation_reset_angle_) { + resetOscillationFlags(); + } +} + +void OscillationCostFunction::resetOscillationFlags() { + strafe_pos_only_ = false; + strafe_neg_only_ = false; + strafing_pos_ = false; + strafing_neg_ = false; + + rot_pos_only_ = false; + rot_neg_only_ = false; + rotating_pos_ = false; + rotating_neg_ = false; + + forward_pos_only_ = false; + forward_neg_only_ = false; + forward_pos_ = false; + forward_neg_ = false; +} + +bool OscillationCostFunction::setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans) { + bool flag_set = false; + //set oscillation flags for moving forward and backward + if (t->xv_ < 0.0) { + if (forward_pos_) { + forward_neg_only_ = true; + flag_set = true; + } + forward_pos_ = false; + forward_neg_ = true; + } + if (t->xv_ > 0.0) { + if (forward_neg_) { + forward_pos_only_ = true; + flag_set = true; + } + forward_neg_ = false; + forward_pos_ = true; + } + + //we'll only set flags for strafing and rotating when we're not moving forward at all + if (fabs(t->xv_) <= min_vel_trans) { + //check negative strafe + if (t->yv_ < 0) { + if (strafing_pos_) { + strafe_neg_only_ = true; + flag_set = true; + } + strafing_pos_ = false; + strafing_neg_ = true; + } + + //check positive strafe + if (t->yv_ > 0) { + if (strafing_neg_) { + strafe_pos_only_ = true; + flag_set = true; + } + strafing_neg_ = false; + strafing_pos_ = true; + } + + //check negative rotation + if (t->thetav_ < 0) { + if (rotating_pos_) { + rot_neg_only_ = true; + flag_set = true; + } + rotating_pos_ = false; + rotating_neg_ = true; + } + + //check positive rotation + if (t->thetav_ > 0) { + if (rotating_neg_) { + rot_pos_only_ = true; + flag_set = true; + } + rotating_neg_ = false; + rotating_pos_ = true; + } + } + return flag_set; +} + +double OscillationCostFunction::scoreTrajectory(Trajectory &traj) { + if ((forward_pos_only_ && traj.xv_ < 0.0) || + (forward_neg_only_ && traj.xv_ > 0.0) || + (strafe_pos_only_ && traj.yv_ < 0.0) || + (strafe_neg_only_ && traj.yv_ > 0.0) || + (rot_pos_only_ && traj.thetav_ < 0.0) || + (rot_neg_only_ && traj.thetav_ > 0.0)) { + return -5.0; + } + return 0.0; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/point_grid.cpp b/src/navigation/base_local_planner/src/point_grid.cpp new file mode 100644 index 0000000..8fef01a --- /dev/null +++ b/src/navigation/base_local_planner/src/point_grid.cpp @@ -0,0 +1,556 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + +PointGrid::PointGrid(double size_x, double size_y, double resolution, geometry_msgs::Point origin, double max_z, double obstacle_range, double min_seperation) : + resolution_(resolution), origin_(origin), max_z_(max_z), sq_obstacle_range_(obstacle_range * obstacle_range), sq_min_separation_(min_seperation * min_seperation) + { + width_ = (int) (size_x / resolution_); + height_ = (int) (size_y / resolution_); + cells_.resize(width_ * height_); + } + + double PointGrid::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + //the half-width of the circumscribed sqaure of the robot is equal to the circumscribed radius + double outer_square_radius = circumscribed_radius; + + //get all the points inside the circumscribed square of the robot footprint + geometry_msgs::Point c_lower_left, c_upper_right; + c_lower_left.x = position.x - outer_square_radius; + c_lower_left.y = position.y - outer_square_radius; + + c_upper_right.x = position.x + outer_square_radius; + c_upper_right.y = position.y + outer_square_radius; + + //This may return points that are still outside of the cirumscribed square because it returns the cells + //contained by the range + getPointsInRange(c_lower_left, c_upper_right, points_); + + //if there are no points in the circumscribed square... we don't have to check against the footprint + if(points_.empty()) + return 1.0; + + //compute the half-width of the inner square from the inscribed radius of the robot + double inner_square_radius = sqrt((inscribed_radius * inscribed_radius) / 2.0); + + //we'll also check against the inscribed square + geometry_msgs::Point i_lower_left, i_upper_right; + i_lower_left.x = position.x - inner_square_radius; + i_lower_left.y = position.y - inner_square_radius; + + i_upper_right.x = position.x + inner_square_radius; + i_upper_right.y = position.y + inner_square_radius; + + //if there are points, we have to do a more expensive check + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + for(list::iterator it = cell_points->begin(); it != cell_points->end(); ++it){ + const geometry_msgs::Point32& pt = *it; + //first, we'll check to make sure we're in the outer square + //printf("(%.2f, %.2f) ... l(%.2f, %.2f) ... u(%.2f, %.2f)\n", pt.x, pt.y, c_lower_left.x, c_lower_left.y, c_upper_right.x, c_upper_right.y); + if(pt.x > c_lower_left.x && pt.x < c_upper_right.x && pt.y > c_lower_left.y && pt.y < c_upper_right.y){ + //do a quick check to see if the point lies in the inner square of the robot + if(pt.x > i_lower_left.x && pt.x < i_upper_right.x && pt.y > i_lower_left.y && pt.y < i_upper_right.y) + return -1.0; + + //now we really have to do a full footprint check on the point + if(ptInPolygon(pt, footprint)) + return -1.0; + } + } + } + } + + //if we get through all the points and none of them are in the footprint it's legal + return 1.0; + } + + bool PointGrid::ptInPolygon(const geometry_msgs::Point32& pt, const std::vector& poly){ + if(poly.size() < 3) + return false; + + //a point is in a polygon iff the orientation of the point + //with respect to sides of the polygon is the same for every + //side of the polygon + bool all_left = false; + bool all_right = false; + for(unsigned int i = 0; i < poly.size() - 1; ++i){ + //if pt left of a->b + if(orient(poly[i], poly[i + 1], pt) > 0){ + if(all_right) + return false; + all_left = true; + } + //if pt right of a->b + else{ + if(all_left) + return false; + all_right = true; + } + } + //also need to check the last point with the first point + if(orient(poly[poly.size() - 1], poly[0], pt) > 0){ + if(all_right) + return false; + } + else{ + if(all_left) + return false; + } + + return true; + } + + void PointGrid::getPointsInRange(const geometry_msgs::Point& lower_left, const geometry_msgs::Point& upper_right, + vector< list* >& points){ + points.clear(); + + //compute the other corners of the box so we can get cells indicies for them + geometry_msgs::Point upper_left, lower_right; + upper_left.x = lower_left.x; + upper_left.y = upper_right.y; + lower_right.x = upper_right.x; + lower_right.y = lower_left.y; + + //get the grid coordinates of the cells matching the corners of the range + unsigned int gx, gy; + + //if the grid coordinates are outside the bounds of the grid... return + if(!gridCoords(lower_left, gx, gy)) + return; + //get the associated index + unsigned int lower_left_index = gridIndex(gx, gy); + + if(!gridCoords(lower_right, gx, gy)) + return; + unsigned int lower_right_index = gridIndex(gx, gy); + + if(!gridCoords(upper_left, gx, gy)) + return; + unsigned int upper_left_index = gridIndex(gx, gy); + + //compute x_steps and y_steps + unsigned int x_steps = lower_right_index - lower_left_index + 1; + unsigned int y_steps = (upper_left_index - lower_left_index) / width_ + 1; + /* + * (0, 0) ---------------------- (width, 0) + * | | + * | | + * | | + * | | + * | | + * (0, height) ----------------- (width, height) + */ + //get an iterator + vector< list >::iterator cell_iterator = cells_.begin() + lower_left_index; + //printf("Index: %d, Width: %d, x_steps: %d, y_steps: %d\n", lower_left_index, width_, x_steps, y_steps); + for(unsigned int i = 0; i < y_steps; ++i){ + for(unsigned int j = 0; j < x_steps; ++j){ + list& cell = *cell_iterator; + //if the cell contains any points... we need to push them back to our list + if(!cell.empty()){ + points.push_back(&cell); + } + if(j < x_steps - 1) + cell_iterator++; //move a cell in the x direction + } + cell_iterator += width_ - (x_steps - 1); //move down a row + } + } + + void PointGrid::insert(const geometry_msgs::Point32& pt){ + //get the grid coordinates of the point + unsigned int gx, gy; + + //if the grid coordinates are outside the bounds of the grid... return + if(!gridCoords(pt, gx, gy)) + return; + + //if the point is too close to its nearest neighbor... return + if(nearestNeighborDistance(pt) < sq_min_separation_) + return; + + //get the associated index + unsigned int pt_index = gridIndex(gx, gy); + + //insert the point into the grid at the correct location + cells_[pt_index].push_back(pt); + //printf("Index: %d, size: %d\n", pt_index, cells_[pt_index].size()); + } + + double PointGrid::getNearestInCell(const geometry_msgs::Point32& pt, unsigned int gx, unsigned int gy){ + unsigned int index = gridIndex(gx, gy); + double min_sq_dist = DBL_MAX; + //loop through the points in the cell and find the minimum distance to the passed point + for(list::const_iterator it = cells_[index].begin(); it != cells_[index].end(); ++it){ + min_sq_dist = min(min_sq_dist, sq_distance(pt, *it)); + } + return min_sq_dist; + } + + + double PointGrid::nearestNeighborDistance(const geometry_msgs::Point32& pt){ + //get the grid coordinates of the point + unsigned int gx, gy; + + gridCoords(pt, gx, gy); + + //get the bounds of the grid cell in world coords + geometry_msgs::Point lower_left, upper_right; + getCellBounds(gx, gy, lower_left, upper_right); + + //now we need to check what cells could contain the nearest neighbor + geometry_msgs::Point32 check_point; + double sq_dist = DBL_MAX; + double neighbor_sq_dist = DBL_MAX; + + //left + if(gx > 0){ + check_point.x = lower_left.x; + check_point.y = pt.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy)); + } + + //upper left + if(gx > 0 && gy < height_ - 1){ + check_point.x = lower_left.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy + 1)); + } + + //top + if(gy < height_ - 1){ + check_point.x = pt.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy + 1)); + } + + //upper right + if(gx < width_ - 1 && gy < height_ - 1){ + check_point.x = upper_right.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy + 1)); + } + + //right + if(gx < width_ - 1){ + check_point.x = upper_right.x; + check_point.y = pt.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy)); + } + + //lower right + if(gx < width_ - 1 && gy > 0){ + check_point.x = upper_right.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy - 1)); + } + + //bottom + if(gy > 0){ + check_point.x = pt.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy - 1)); + } + + //lower left + if(gx > 0 && gy > 0){ + check_point.x = lower_left.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy - 1)); + } + + //we must also check within the cell we're in for a nearest neighbor + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy)); + + return neighbor_sq_dist; + } + + void PointGrid::updateWorld(const std::vector& footprint, + const vector& observations, const vector& laser_scans){ + //for our 2D point grid we only remove freespace based on the first laser scan + if(laser_scans.empty()) + return; + + removePointsInScanBoundry(laser_scans[0]); + + //iterate through all observations and update the grid + for(vector::const_iterator it = observations.begin(); it != observations.end(); ++it){ + const Observation& obs = *it; + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + geometry_msgs::Point32 pt; + for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ + //filter out points that are too high + if(*iter_z > max_z_) + continue; + + //compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x) + + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y) + + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z); + + if(sq_dist >= sq_obstacle_range_) + continue; + + //insert the point + pt.x = *iter_x; + pt.y = *iter_y; + pt.z = *iter_z; + insert(pt); + } + } + + //remove the points that are in the footprint of the robot + removePointsInPolygon(footprint); + } + + void PointGrid::removePointsInScanBoundry(const PlanarLaserScan& laser_scan){ + if(laser_scan.cloud.points.size() == 0) + return; + + //compute the containing square of the scan + geometry_msgs::Point lower_left, upper_right; + lower_left.x = laser_scan.origin.x; + lower_left.y = laser_scan.origin.y; + upper_right.x = laser_scan.origin.x; + upper_right.y = laser_scan.origin.y; + + for(unsigned int i = 0; i < laser_scan.cloud.points.size(); ++i){ + lower_left.x = min((double)lower_left.x, (double)laser_scan.cloud.points[i].x); + lower_left.y = min((double)lower_left.y, (double)laser_scan.cloud.points[i].y); + upper_right.x = max((double)upper_right.x, (double)laser_scan.cloud.points[i].x); + upper_right.y = max((double)upper_right.y, (double)laser_scan.cloud.points[i].y); + } + + getPointsInRange(lower_left, upper_right, points_); + + //if there are no points in the containing square... we don't have to do anything + if(points_.empty()) + return; + + //if there are points, we have to check them against the scan explicitly to remove them + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + list::iterator it = cell_points->begin(); + while(it != cell_points->end()){ + const geometry_msgs::Point32& pt = *it; + + //check if the point is in the polygon and if it is, erase it from the grid + if(ptInScan(pt, laser_scan)){ + it = cell_points->erase(it); + } + else + it++; + } + } + } + } + + bool PointGrid::ptInScan(const geometry_msgs::Point32& pt, const PlanarLaserScan& laser_scan){ + if(!laser_scan.cloud.points.empty()){ + //compute the angle of the point relative to that of the scan + double v1_x = laser_scan.cloud.points[0].x - laser_scan.origin.x; + double v1_y = laser_scan.cloud.points[0].y - laser_scan.origin.y; + double v2_x = pt.x - laser_scan.origin.x; + double v2_y = pt.y - laser_scan.origin.y; + + double perp_dot = v1_x * v2_y - v1_y * v2_x; + double dot = v1_x * v2_x + v1_y * v2_y; + + //get the signed angle + double vector_angle = atan2(perp_dot, dot); + + //we want all angles to be between 0 and 2PI + if(vector_angle < 0) + vector_angle = 2 * M_PI + vector_angle; + + double total_rads = laser_scan.angle_max - laser_scan.angle_min; + + //if this point lies outside of the scan field of view... it is not in the scan + if(vector_angle < 0 || vector_angle >= total_rads) + return false; + + //compute the index of the point in the scan + unsigned int index = (unsigned int) (vector_angle / laser_scan.angle_increment); + + //make sure we have a legal index... we always should at this point, but just in case + if(index >= laser_scan.cloud.points.size() - 1){ + return false; + } + + //if the point lies to the left of the line between the two scan points bounding it, it is within the scan + if(orient(laser_scan.cloud.points[index], laser_scan.cloud.points[index + 1], pt) > 0){ + return true; + } + + //otherwise it is not + return false; + } + else + return false; + } + + void PointGrid::getPoints(sensor_msgs::PointCloud2& cloud){ + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + + size_t n = 0; + for(unsigned int i = 0; i < cells_.size(); ++i){ + for(list::iterator it = cells_[i].begin(); it != cells_[i].end(); ++it){ + ++n; + } + } + modifier.resize(n); + + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + + for(unsigned int i = 0; i < cells_.size(); ++i){ + for(list::iterator it = cells_[i].begin(); it != cells_[i].end(); ++it, ++iter_x, ++iter_y, ++iter_z){ + *iter_x = it->x; + *iter_y = it->y; + *iter_z = it->z; + } + } + } + + void PointGrid::removePointsInPolygon(const std::vector poly){ + if(poly.size() == 0) + return; + + geometry_msgs::Point lower_left, upper_right; + lower_left.x = poly[0].x; + lower_left.y = poly[0].y; + upper_right.x = poly[0].x; + upper_right.y = poly[0].y; + + //compute the containing square of the polygon + for(unsigned int i = 1; i < poly.size(); ++i){ + lower_left.x = min(lower_left.x, poly[i].x); + lower_left.y = min(lower_left.y, poly[i].y); + upper_right.x = max(upper_right.x, poly[i].x); + upper_right.y = max(upper_right.y, poly[i].y); + } + + ROS_DEBUG("Lower: (%.2f, %.2f), Upper: (%.2f, %.2f)\n", lower_left.x, lower_left.y, upper_right.x, upper_right.y); + getPointsInRange(lower_left, upper_right, points_); + + //if there are no points in the containing square... we don't have to do anything + if(points_.empty()) + return; + + //if there are points, we have to check them against the polygon explicitly to remove them + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + list::iterator it = cell_points->begin(); + while(it != cell_points->end()){ + const geometry_msgs::Point32& pt = *it; + + //check if the point is in the polygon and if it is, erase it from the grid + if(ptInPolygon(pt, poly)){ + it = cell_points->erase(it); + } + else + it++; + } + } + } + } + + void PointGrid::intersectionPoint(const geometry_msgs::Point& v1, const geometry_msgs::Point& v2, + const geometry_msgs::Point& u1, const geometry_msgs::Point& u2, geometry_msgs::Point& result){ + //generate the equation for line 1 + double a1 = v2.y - v1.y; + double b1 = v1.x - v2.x; + double c1 = a1 * v1.x + b1 * v1.y; + + //generate the equation for line 2 + double a2 = u2.y - u1.y; + double b2 = u1.x - u2.x; + double c2 = a2 * u1.x + b2 * u1.y; + + double det = a1 * b2 - a2 * b1; + + //the lines are parallel + if(det == 0) + return; + + result.x = (b2 * c1 - b1 * c2) / det; + result.y = (a1 * c2 - a2 * c1) / det; + } + +}; diff --git a/src/navigation/base_local_planner/src/point_grid_node.cpp b/src/navigation/base_local_planner/src/point_grid_node.cpp new file mode 100644 index 0000000..6534a35 --- /dev/null +++ b/src/navigation/base_local_planner/src/point_grid_node.cpp @@ -0,0 +1,221 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +void printPoint(const geometry_msgs::Point& pt){ + printf("(%.2f, %.2f, %.2f)", pt.x, pt.y, pt.z); +} + +void printPSHeader(){ + printf("%%!PS\n"); + printf("%%%%Creator: Eitan Marder-Eppstein (Willow Garage)\n"); + printf("%%%%EndComments\n"); +} + +void printPSFooter(){ + printf("showpage\n%%%%EOF\n"); +} + +void printPolygonPS(const std::vector& poly, double line_width){ + if(poly.size() < 2) + return; + + printf("%.2f setlinewidth\n", line_width); + printf("newpath\n"); + printf("%.4f\t%.4f\tmoveto\n", poly[0].x * 10, poly[0].y * 10); + for(unsigned int i = 1; i < poly.size(); ++i) + printf("%.4f\t%.4f\tlineto\n", poly[i].x * 10, poly[i].y * 10); + printf("%.4f\t%.4f\tlineto\n", poly[0].x * 10, poly[0].y * 10); + printf("closepath stroke\n"); + +} + +using namespace base_local_planner; + +int main(int argc, char** argv){ + geometry_msgs::Point origin; + origin.x = 0.0; + origin.y = 0.0; + PointGrid pg(50.0, 50.0, 0.2, origin, 2.0, 3.0, 0.0); + /* + double x = 10.0; + double y = 10.0; + for(int i = 0; i < 100; ++i){ + for(int j = 0; j < 100; ++j){ + pcl::PointXYZ pt; + pt.x = x; + pt.y = y; + pt.z = 1.0; + pg.insert(pt); + x += .03; + } + y += .03; + x = 10.0; + } + */ + std::vector footprint, footprint2, footprint3; + geometry_msgs::Point pt; + + pt.x = 1.0; + pt.y = 1.0; + footprint.push_back(pt); + + pt.x = 1.0; + pt.y = 1.65; + footprint.push_back(pt); + + pt.x = 1.325; + pt.y = 1.75; + footprint.push_back(pt); + + pt.x = 1.65; + pt.y = 1.65; + footprint.push_back(pt); + + pt.x = 1.65; + pt.y = 1.0; + footprint.push_back(pt); + + pt.x = 1.325; + pt.y = 1.00; + footprint2.push_back(pt); + + pt.x = 1.325; + pt.y = 1.75; + footprint2.push_back(pt); + + pt.x = 1.65; + pt.y = 1.75; + footprint2.push_back(pt); + + pt.x = 1.65; + pt.y = 1.00; + footprint2.push_back(pt); + + pt.x = 0.99; + pt.y = 0.99; + footprint3.push_back(pt); + + pt.x = 0.99; + pt.y = 1.66; + footprint3.push_back(pt); + + pt.x = 1.3255; + pt.y = 1.85; + footprint3.push_back(pt); + + pt.x = 1.66; + pt.y = 1.66; + footprint3.push_back(pt); + + pt.x = 1.66; + pt.y = 0.99; + footprint3.push_back(pt); + + pt.x = 1.325; + pt.y = 1.325; + + geometry_msgs::Point32 point; + point.x = 1.2; + point.y = 1.2; + point.z = 1.0; + +#ifdef HAVE_SYS_TIME_H + struct timeval start, end; + double start_t, end_t, t_diff; +#endif + + printPSHeader(); + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&start, NULL); +#endif + + for(unsigned int i = 0; i < 2000; ++i){ + pg.insert(point); + } + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + printf("%%Insertion Time: %.9f \n", t_diff); +#endif + + vector obs; + vector scan; + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&start, NULL); +#endif + pg.updateWorld(footprint, obs, scan); + + double legal = pg.footprintCost(pt, footprint, 0.0, .95); + pg.updateWorld(footprint, obs, scan); + double legal2 = pg.footprintCost(pt, footprint, 0.0, .95); + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + + printf("%%Footprint calc: %.9f \n", t_diff); +#endif + + if(legal >= 0.0) + printf("%%Legal footprint %.4f, %.4f\n", legal, legal2); + else + printf("%%Illegal footprint\n"); + + printPSFooter(); + + return 0; +} diff --git a/src/navigation/base_local_planner/src/prefer_forward_cost_function.cpp b/src/navigation/base_local_planner/src/prefer_forward_cost_function.cpp new file mode 100644 index 0000000..9329578 --- /dev/null +++ b/src/navigation/base_local_planner/src/prefer_forward_cost_function.cpp @@ -0,0 +1,28 @@ +/* + * prefer_forward_cost_function.cpp + * + * Created on: Apr 4, 2012 + * Author: tkruse + */ + +#include + +#include + +namespace base_local_planner { + + +double PreferForwardCostFunction::scoreTrajectory(Trajectory &traj) { + // backward motions bad on a robot without backward sensors + if (traj.xv_ < 0.0) { + return penalty_; + } + // strafing motions also bad on such a robot + if (traj.xv_ < 0.1 && fabs(traj.thetav_) < 0.2) { + return penalty_; + } + // the more we rotate, the less we progress forward + return fabs(traj.thetav_) * 10; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/simple_scored_sampling_planner.cpp b/src/navigation/base_local_planner/src/simple_scored_sampling_planner.cpp new file mode 100644 index 0000000..61e191c --- /dev/null +++ b/src/navigation/base_local_planner/src/simple_scored_sampling_planner.cpp @@ -0,0 +1,145 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + + SimpleScoredSamplingPlanner::SimpleScoredSamplingPlanner(std::vector gen_list, std::vector& critics, int max_samples) { + max_samples_ = max_samples; + gen_list_ = gen_list; + critics_ = critics; + } + + double SimpleScoredSamplingPlanner::scoreTrajectory(Trajectory& traj, double best_traj_cost) { + double traj_cost = 0; + int gen_id = 0; + for(std::vector::iterator score_function = critics_.begin(); score_function != critics_.end(); ++score_function) { + TrajectoryCostFunction* score_function_p = *score_function; + if (score_function_p->getScale() == 0) { + continue; + } + double cost = score_function_p->scoreTrajectory(traj); + if (cost < 0) { + ROS_DEBUG("Velocity %.3lf, %.3lf, %.3lf discarded by cost function %d with cost: %f", traj.xv_, traj.yv_, traj.thetav_, gen_id, cost); + traj_cost = cost; + break; + } + if (cost != 0) { + cost *= score_function_p->getScale(); + } + traj_cost += cost; + if (best_traj_cost > 0) { + // since we keep adding positives, once we are worse than the best, we will stay worse + if (traj_cost > best_traj_cost) { + break; + } + } + gen_id ++; + } + + + return traj_cost; + } + + bool SimpleScoredSamplingPlanner::findBestTrajectory(Trajectory& traj, std::vector* all_explored) { + Trajectory loop_traj; + Trajectory best_traj; + double loop_traj_cost, best_traj_cost = -1; + bool gen_success; + int count, count_valid; + for (std::vector::iterator loop_critic = critics_.begin(); loop_critic != critics_.end(); ++loop_critic) { + TrajectoryCostFunction* loop_critic_p = *loop_critic; + if (loop_critic_p->prepare() == false) { + ROS_WARN("A scoring function failed to prepare"); + return false; + } + } + + for (std::vector::iterator loop_gen = gen_list_.begin(); loop_gen != gen_list_.end(); ++loop_gen) { + count = 0; + count_valid = 0; + TrajectorySampleGenerator* gen_ = *loop_gen; + while (gen_->hasMoreTrajectories()) { + gen_success = gen_->nextTrajectory(loop_traj); + if (gen_success == false) { + // TODO use this for debugging + continue; + } + loop_traj_cost = scoreTrajectory(loop_traj, best_traj_cost); + if (all_explored != NULL) { + loop_traj.cost_ = loop_traj_cost; + all_explored->push_back(loop_traj); + } + + if (loop_traj_cost >= 0) { + count_valid++; + if (best_traj_cost < 0 || loop_traj_cost < best_traj_cost) { + best_traj_cost = loop_traj_cost; + best_traj = loop_traj; + } + } + count++; + if (max_samples_ > 0 && count >= max_samples_) { + break; + } + } + if (best_traj_cost >= 0) { + traj.xv_ = best_traj.xv_; + traj.yv_ = best_traj.yv_; + traj.thetav_ = best_traj.thetav_; + traj.cost_ = best_traj_cost; + traj.resetPoints(); + double px, py, pth; + for (unsigned int i = 0; i < best_traj.getPointsSize(); i++) { + best_traj.getPoint(i, px, py, pth); + traj.addPoint(px, py, pth); + } + } + ROS_DEBUG("Evaluated %d trajectories, found %d valid", count, count_valid); + if (best_traj_cost >= 0) { + // do not try fallback generators + break; + } + } + return best_traj_cost >= 0; + } + + +}// namespace diff --git a/src/navigation/base_local_planner/src/simple_trajectory_generator.cpp b/src/navigation/base_local_planner/src/simple_trajectory_generator.cpp new file mode 100644 index 0000000..2af290a --- /dev/null +++ b/src/navigation/base_local_planner/src/simple_trajectory_generator.cpp @@ -0,0 +1,282 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: TKruse + *********************************************************************/ + +#include + +#include + +#include + +namespace base_local_planner { + +void SimpleTrajectoryGenerator::initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + std::vector additional_samples, + bool discretize_by_time) { + initialise(pos, vel, goal, limits, vsamples, discretize_by_time); + // add static samples if any + sample_params_.insert(sample_params_.end(), additional_samples.begin(), additional_samples.end()); +} + + +void SimpleTrajectoryGenerator::initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + bool discretize_by_time) { + /* + * We actually generate all velocity sample vectors here, from which to generate trajectories later on + */ + double max_vel_th = limits->max_vel_theta; + double min_vel_th = -1.0 * max_vel_th; + discretize_by_time_ = discretize_by_time; + Eigen::Vector3f acc_lim = limits->getAccLimits(); + pos_ = pos; + vel_ = vel; + limits_ = limits; + next_sample_index_ = 0; + sample_params_.clear(); + + double min_vel_x = limits->min_vel_x; + double max_vel_x = limits->max_vel_x; + double min_vel_y = limits->min_vel_y; + double max_vel_y = limits->max_vel_y; + + // if sampling number is zero in any dimension, we don't generate samples generically + if (vsamples[0] * vsamples[1] * vsamples[2] > 0) { + //compute the feasible velocity space based on the rate at which we run + Eigen::Vector3f max_vel = Eigen::Vector3f::Zero(); + Eigen::Vector3f min_vel = Eigen::Vector3f::Zero(); + + if ( ! use_dwa_) { + // there is no point in overshooting the goal, and it also may break the + // robot behavior, so we limit the velocities to those that do not overshoot in sim_time + double dist = hypot(goal[0] - pos[0], goal[1] - pos[1]); + max_vel_x = std::max(std::min(max_vel_x, dist / sim_time_), min_vel_x); + max_vel_y = std::max(std::min(max_vel_y, dist / sim_time_), min_vel_y); + + // if we use continous acceleration, we can sample the max velocity we can reach in sim_time_ + max_vel[0] = std::min(max_vel_x, vel[0] + acc_lim[0] * sim_time_); + max_vel[1] = std::min(max_vel_y, vel[1] + acc_lim[1] * sim_time_); + max_vel[2] = std::min(max_vel_th, vel[2] + acc_lim[2] * sim_time_); + + min_vel[0] = std::max(min_vel_x, vel[0] - acc_lim[0] * sim_time_); + min_vel[1] = std::max(min_vel_y, vel[1] - acc_lim[1] * sim_time_); + min_vel[2] = std::max(min_vel_th, vel[2] - acc_lim[2] * sim_time_); + } else { + // with dwa do not accelerate beyond the first step, we only sample within velocities we reach in sim_period + max_vel[0] = std::min(max_vel_x, vel[0] + acc_lim[0] * sim_period_); + max_vel[1] = std::min(max_vel_y, vel[1] + acc_lim[1] * sim_period_); + max_vel[2] = std::min(max_vel_th, vel[2] + acc_lim[2] * sim_period_); + + min_vel[0] = std::max(min_vel_x, vel[0] - acc_lim[0] * sim_period_); + min_vel[1] = std::max(min_vel_y, vel[1] - acc_lim[1] * sim_period_); + min_vel[2] = std::max(min_vel_th, vel[2] - acc_lim[2] * sim_period_); + } + + Eigen::Vector3f vel_samp = Eigen::Vector3f::Zero(); + VelocityIterator x_it(min_vel[0], max_vel[0], vsamples[0]); + VelocityIterator y_it(min_vel[1], max_vel[1], vsamples[1]); + VelocityIterator th_it(min_vel[2], max_vel[2], vsamples[2]); + for(; !x_it.isFinished(); x_it++) { + vel_samp[0] = x_it.getVelocity(); + for(; !y_it.isFinished(); y_it++) { + vel_samp[1] = y_it.getVelocity(); + for(; !th_it.isFinished(); th_it++) { + vel_samp[2] = th_it.getVelocity(); + //ROS_DEBUG("Sample %f, %f, %f", vel_samp[0], vel_samp[1], vel_samp[2]); + sample_params_.push_back(vel_samp); + } + th_it.reset(); + } + y_it.reset(); + } + } +} + +void SimpleTrajectoryGenerator::setParameters( + double sim_time, + double sim_granularity, + double angular_sim_granularity, + bool use_dwa, + double sim_period) { + sim_time_ = sim_time; + sim_granularity_ = sim_granularity; + angular_sim_granularity_ = angular_sim_granularity; + use_dwa_ = use_dwa; + continued_acceleration_ = ! use_dwa_; + sim_period_ = sim_period; +} + +/** + * Whether this generator can create more trajectories + */ +bool SimpleTrajectoryGenerator::hasMoreTrajectories() { + return next_sample_index_ < sample_params_.size(); +} + +/** + * Create and return the next sample trajectory + */ +bool SimpleTrajectoryGenerator::nextTrajectory(Trajectory &comp_traj) { + bool result = false; + if (hasMoreTrajectories()) { + if (generateTrajectory( + pos_, + vel_, + sample_params_[next_sample_index_], + comp_traj)) { + result = true; + } + } + next_sample_index_++; + return result; +} + +/** + * @param pos current position of robot + * @param vel desired velocity for sampling + */ +bool SimpleTrajectoryGenerator::generateTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f sample_target_vel, + base_local_planner::Trajectory& traj) { + double vmag = hypot(sample_target_vel[0], sample_target_vel[1]); + double eps = 1e-4; + traj.cost_ = -1.0; // placed here in case we return early + //trajectory might be reused so we'll make sure to reset it + traj.resetPoints(); + + // make sure that the robot would at least be moving with one of + // the required minimum velocities for translation and rotation (if set) + if ((limits_->min_vel_trans >= 0 && vmag + eps < limits_->min_vel_trans) && + (limits_->min_vel_theta >= 0 && fabs(sample_target_vel[2]) + eps < limits_->min_vel_theta)) { + return false; + } + // make sure we do not exceed max diagonal (x+y) translational velocity (if set) + if (limits_->max_vel_trans >=0 && vmag - eps > limits_->max_vel_trans) { + return false; + } + + int num_steps; + if (discretize_by_time_) { + num_steps = ceil(sim_time_ / sim_granularity_); + } else { + //compute the number of steps we must take along this trajectory to be "safe" + double sim_time_distance = vmag * sim_time_; // the distance the robot would travel in sim_time if it did not change velocity + double sim_time_angle = fabs(sample_target_vel[2]) * sim_time_; // the angle the robot would rotate in sim_time + num_steps = + ceil(std::max(sim_time_distance / sim_granularity_, + sim_time_angle / angular_sim_granularity_)); + } + + if (num_steps == 0) { + return false; + } + + //compute a timestep + double dt = sim_time_ / num_steps; + traj.time_delta_ = dt; + + Eigen::Vector3f loop_vel; + if (continued_acceleration_) { + // assuming the velocity of the first cycle is the one we want to store in the trajectory object + loop_vel = computeNewVelocities(sample_target_vel, vel, limits_->getAccLimits(), dt); + traj.xv_ = loop_vel[0]; + traj.yv_ = loop_vel[1]; + traj.thetav_ = loop_vel[2]; + } else { + // assuming sample_vel is our target velocity within acc limits for one timestep + loop_vel = sample_target_vel; + traj.xv_ = sample_target_vel[0]; + traj.yv_ = sample_target_vel[1]; + traj.thetav_ = sample_target_vel[2]; + } + + //simulate the trajectory and check for collisions, updating costs along the way + for (int i = 0; i < num_steps; ++i) { + + //add the point to the trajectory so we can draw it later if we want + traj.addPoint(pos[0], pos[1], pos[2]); + + if (continued_acceleration_) { + //calculate velocities + loop_vel = computeNewVelocities(sample_target_vel, loop_vel, limits_->getAccLimits(), dt); + //ROS_WARN_NAMED("Generator", "Flag: %d, Loop_Vel %f, %f, %f", continued_acceleration_, loop_vel[0], loop_vel[1], loop_vel[2]); + } + + //update the position of the robot using the velocities passed in + pos = computeNewPositions(pos, loop_vel, dt); + + } // end for simulation steps + + return true; // trajectory has at least one point +} + +Eigen::Vector3f SimpleTrajectoryGenerator::computeNewPositions(const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, double dt) { + Eigen::Vector3f new_pos = Eigen::Vector3f::Zero(); + new_pos[0] = pos[0] + (vel[0] * cos(pos[2]) + vel[1] * cos(M_PI_2 + pos[2])) * dt; + new_pos[1] = pos[1] + (vel[0] * sin(pos[2]) + vel[1] * sin(M_PI_2 + pos[2])) * dt; + new_pos[2] = pos[2] + vel[2] * dt; + return new_pos; +} + +/** + * change vel using acceleration limits to converge towards sample_target-vel + */ +Eigen::Vector3f SimpleTrajectoryGenerator::computeNewVelocities(const Eigen::Vector3f& sample_target_vel, + const Eigen::Vector3f& vel, Eigen::Vector3f acclimits, double dt) { + Eigen::Vector3f new_vel = Eigen::Vector3f::Zero(); + for (int i = 0; i < 3; ++i) { + if (vel[i] < sample_target_vel[i]) { + new_vel[i] = std::min(double(sample_target_vel[i]), vel[i] + acclimits[i] * dt); + } else { + new_vel[i] = std::max(double(sample_target_vel[i]), vel[i] - acclimits[i] * dt); + } + } + return new_vel; +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/trajectory.cpp b/src/navigation/base_local_planner/src/trajectory.cpp new file mode 100644 index 0000000..4d395fb --- /dev/null +++ b/src/navigation/base_local_planner/src/trajectory.cpp @@ -0,0 +1,80 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ +#include + +namespace base_local_planner { + Trajectory::Trajectory() + : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0) + { + } + + Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts) + : xv_(xv), yv_(yv), thetav_(thetav), cost_(-1.0), time_delta_(time_delta), x_pts_(num_pts), y_pts_(num_pts), th_pts_(num_pts) + { + } + + void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const { + x = x_pts_[index]; + y = y_pts_[index]; + th = th_pts_[index]; + } + + void Trajectory::setPoint(unsigned int index, double x, double y, double th){ + x_pts_[index] = x; + y_pts_[index] = y; + th_pts_[index] = th; + } + + void Trajectory::addPoint(double x, double y, double th){ + x_pts_.push_back(x); + y_pts_.push_back(y); + th_pts_.push_back(th); + } + + void Trajectory::resetPoints(){ + x_pts_.clear(); + y_pts_.clear(); + th_pts_.clear(); + } + + void Trajectory::getEndpoint(double& x, double& y, double& th) const { + x = x_pts_.back(); + y = y_pts_.back(); + th = th_pts_.back(); + } + + unsigned int Trajectory::getPointsSize() const { + return x_pts_.size(); + } +}; diff --git a/src/navigation/base_local_planner/src/trajectory_planner.cpp b/src/navigation/base_local_planner/src/trajectory_planner.cpp new file mode 100644 index 0000000..69bad75 --- /dev/null +++ b/src/navigation/base_local_planner/src/trajectory_planner.cpp @@ -0,0 +1,1001 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#include +#include +#include +#include + + + +#include + +#include + +//for computing path distance +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner{ + + void TrajectoryPlanner::reconfigure(BaseLocalPlannerConfig &cfg) + { + BaseLocalPlannerConfig config(cfg); + + boost::mutex::scoped_lock l(configuration_mutex_); + + acc_lim_x_ = config.acc_lim_x; + acc_lim_y_ = config.acc_lim_y; + acc_lim_theta_ = config.acc_lim_theta; + + max_vel_x_ = config.max_vel_x; + min_vel_x_ = config.min_vel_x; + + max_vel_th_ = config.max_vel_theta; + min_vel_th_ = config.min_vel_theta; + min_in_place_vel_th_ = config.min_in_place_vel_theta; + + sim_time_ = config.sim_time; + sim_granularity_ = config.sim_granularity; + angular_sim_granularity_ = config.angular_sim_granularity; + + path_distance_bias_ = config.path_distance_bias; + goal_distance_bias_ = config.goal_distance_bias; + occdist_scale_ = config.occdist_scale; + + if (meter_scoring_) { + //if we use meter scoring, then we want to multiply the biases by the resolution of the costmap + double resolution = costmap_.getResolution(); + goal_distance_bias_ *= resolution; + path_distance_bias_ *= resolution; + } + + oscillation_reset_dist_ = config.oscillation_reset_dist; + escape_reset_dist_ = config.escape_reset_dist; + escape_reset_theta_ = config.escape_reset_theta; + + vx_samples_ = config.vx_samples; + vtheta_samples_ = config.vtheta_samples; + + if (vx_samples_ <= 0) { + config.vx_samples = 1; + vx_samples_ = config.vx_samples; + ROS_WARN("You've specified that you don't want any samples in the x dimension. We'll at least assume that you want to sample one value... so we're going to set vx_samples to 1 instead"); + } + if(vtheta_samples_ <= 0) { + config.vtheta_samples = 1; + vtheta_samples_ = config.vtheta_samples; + ROS_WARN("You've specified that you don't want any samples in the theta dimension. We'll at least assume that you want to sample one value... so we're going to set vtheta_samples to 1 instead"); + } + + heading_lookahead_ = config.heading_lookahead; + + holonomic_robot_ = config.holonomic_robot; + + backup_vel_ = config.escape_vel; + + dwa_ = config.dwa; + + heading_scoring_ = config.heading_scoring; + heading_scoring_timestep_ = config.heading_scoring_timestep; + + simple_attractor_ = config.simple_attractor; + + //y-vels + string y_string = config.y_vels; + vector y_strs; + boost::split(y_strs, y_string, boost::is_any_of(", "), boost::token_compress_on); + + vectory_vels; + for(vector::iterator it=y_strs.begin(); it != y_strs.end(); ++it) { + istringstream iss(*it); + double temp; + iss >> temp; + y_vels.push_back(temp); + //ROS_INFO("Adding y_vel: %e", temp); + } + + y_vels_ = y_vels; + + } + + TrajectoryPlanner::TrajectoryPlanner(WorldModel& world_model, + const Costmap2D& costmap, + std::vector footprint_spec, + double acc_lim_x, double acc_lim_y, double acc_lim_theta, + double sim_time, double sim_granularity, + int vx_samples, int vtheta_samples, + double path_distance_bias, double goal_distance_bias, double occdist_scale, + double heading_lookahead, double oscillation_reset_dist, + double escape_reset_dist, double escape_reset_theta, + bool holonomic_robot, + double max_vel_x, double min_vel_x, + double max_vel_th, double min_vel_th, double min_in_place_vel_th, + double backup_vel, + bool dwa, bool heading_scoring, double heading_scoring_timestep, bool meter_scoring, bool simple_attractor, + vector y_vels, double stop_time_buffer, double sim_period, double angular_sim_granularity) + : path_map_(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()), + goal_map_(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()), + costmap_(costmap), + world_model_(world_model), footprint_spec_(footprint_spec), + sim_time_(sim_time), sim_granularity_(sim_granularity), angular_sim_granularity_(angular_sim_granularity), + vx_samples_(vx_samples), vtheta_samples_(vtheta_samples), + path_distance_bias_(path_distance_bias), goal_distance_bias_(goal_distance_bias), occdist_scale_(occdist_scale), + acc_lim_x_(acc_lim_x), acc_lim_y_(acc_lim_y), acc_lim_theta_(acc_lim_theta), + prev_x_(0), prev_y_(0), escape_x_(0), escape_y_(0), escape_theta_(0), heading_lookahead_(heading_lookahead), + oscillation_reset_dist_(oscillation_reset_dist), escape_reset_dist_(escape_reset_dist), + escape_reset_theta_(escape_reset_theta), holonomic_robot_(holonomic_robot), + max_vel_x_(max_vel_x), min_vel_x_(min_vel_x), + max_vel_th_(max_vel_th), min_vel_th_(min_vel_th), min_in_place_vel_th_(min_in_place_vel_th), + backup_vel_(backup_vel), + dwa_(dwa), heading_scoring_(heading_scoring), heading_scoring_timestep_(heading_scoring_timestep), + simple_attractor_(simple_attractor), y_vels_(y_vels), stop_time_buffer_(stop_time_buffer), sim_period_(sim_period) + { + //the robot is not stuck to begin with + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + + escaping_ = false; + final_goal_position_valid_ = false; + + + costmap_2d::calculateMinAndMaxDistances(footprint_spec_, inscribed_radius_, circumscribed_radius_); + } + + TrajectoryPlanner::~TrajectoryPlanner(){} + + bool TrajectoryPlanner::getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost) { + MapCell cell = path_map_(cx, cy); + MapCell goal_cell = goal_map_(cx, cy); + if (cell.within_robot) { + return false; + } + occ_cost = costmap_.getCost(cx, cy); + if (cell.target_dist == path_map_.obstacleCosts() || + cell.target_dist == path_map_.unreachableCellCosts() || + occ_cost >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) { + return false; + } + path_cost = cell.target_dist; + goal_cost = goal_cell.target_dist; + total_cost = path_distance_bias_ * path_cost + goal_distance_bias_ * goal_cost + occdist_scale_ * occ_cost; + return true; + } + + /** + * create and score a trajectory given the current pose of the robot and selected velocities + */ + void TrajectoryPlanner::generateTrajectory( + double x, double y, double theta, + double vx, double vy, double vtheta, + double vx_samp, double vy_samp, double vtheta_samp, + double acc_x, double acc_y, double acc_theta, + double impossible_cost, + Trajectory& traj) { + + // make sure the configuration doesn't change mid run + boost::mutex::scoped_lock l(configuration_mutex_); + + double x_i = x; + double y_i = y; + double theta_i = theta; + + double vx_i, vy_i, vtheta_i; + + vx_i = vx; + vy_i = vy; + vtheta_i = vtheta; + + //compute the magnitude of the velocities + double vmag = hypot(vx_samp, vy_samp); + + //compute the number of steps we must take along this trajectory to be "safe" + int num_steps; + if(!heading_scoring_) { + num_steps = int(max((vmag * sim_time_) / sim_granularity_, fabs(vtheta_samp) / angular_sim_granularity_) + 0.5); + } else { + num_steps = int(sim_time_ / sim_granularity_ + 0.5); + } + + //we at least want to take one step... even if we won't move, we want to score our current position + if(num_steps == 0) { + num_steps = 1; + } + + double dt = sim_time_ / num_steps; + double time = 0.0; + + //create a potential trajectory + traj.resetPoints(); + traj.xv_ = vx_samp; + traj.yv_ = vy_samp; + traj.thetav_ = vtheta_samp; + traj.cost_ = -1.0; + + //initialize the costs for the trajectory + double path_dist = 0.0; + double goal_dist = 0.0; + double occ_cost = 0.0; + double heading_diff = 0.0; + + for(int i = 0; i < num_steps; ++i){ + //get map coordinates of a point + unsigned int cell_x, cell_y; + + //we don't want a path that goes off the know map + if(!costmap_.worldToMap(x_i, y_i, cell_x, cell_y)){ + traj.cost_ = -1.0; + return; + } + + //check the point on the trajectory for legality + double footprint_cost = footprintCost(x_i, y_i, theta_i); + + //if the footprint hits an obstacle this trajectory is invalid + if(footprint_cost < 0){ + traj.cost_ = -1.0; + return; + //TODO: Really look at getMaxSpeedToStopInTime... dues to discretization errors and high acceleration limits, + //it can actually cause the robot to hit obstacles. There may be something to be done to fix, but I'll have to + //come back to it when I have time. Right now, pulling it out as it'll just make the robot a bit more conservative, + //but safe. + /* + double max_vel_x, max_vel_y, max_vel_th; + //we want to compute the max allowable speeds to be able to stop + //to be safe... we'll make sure we can stop some time before we actually hit + getMaxSpeedToStopInTime(time - stop_time_buffer_ - dt, max_vel_x, max_vel_y, max_vel_th); + + //check if we can stop in time + if(fabs(vx_samp) < max_vel_x && fabs(vy_samp) < max_vel_y && fabs(vtheta_samp) < max_vel_th){ + ROS_ERROR("v: (%.2f, %.2f, %.2f), m: (%.2f, %.2f, %.2f) t:%.2f, st: %.2f, dt: %.2f", vx_samp, vy_samp, vtheta_samp, max_vel_x, max_vel_y, max_vel_th, time, stop_time_buffer_, dt); + //if we can stop... we'll just break out of the loop here.. no point in checking future points + break; + } + else{ + traj.cost_ = -1.0; + return; + } + */ + } + + occ_cost = std::max(std::max(occ_cost, footprint_cost), double(costmap_.getCost(cell_x, cell_y))); + + //do we want to follow blindly + if (simple_attractor_) { + goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * + (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + + (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * + (y_i - global_plan_[global_plan_.size() -1].pose.position.y); + } else { + + bool update_path_and_goal_distances = true; + + // with heading scoring, we take into account heading diff, and also only score + // path and goal distance for one point of the trajectory + if (heading_scoring_) { + if (time >= heading_scoring_timestep_ && time < heading_scoring_timestep_ + dt) { + heading_diff = headingDiff(cell_x, cell_y, x_i, y_i, theta_i); + } else { + update_path_and_goal_distances = false; + } + } + + if (update_path_and_goal_distances) { + //update path and goal distances + path_dist = path_map_(cell_x, cell_y).target_dist; + goal_dist = goal_map_(cell_x, cell_y).target_dist; + + //if a point on this trajectory has no clear path to goal it is invalid + if(impossible_cost <= goal_dist || impossible_cost <= path_dist){ +// ROS_DEBUG("No path to goal with goal distance = %f, path_distance = %f and max cost = %f", +// goal_dist, path_dist, impossible_cost); + traj.cost_ = -2.0; + return; + } + } + } + + + //the point is legal... add it to the trajectory + traj.addPoint(x_i, y_i, theta_i); + + //calculate velocities + vx_i = computeNewVelocity(vx_samp, vx_i, acc_x, dt); + vy_i = computeNewVelocity(vy_samp, vy_i, acc_y, dt); + vtheta_i = computeNewVelocity(vtheta_samp, vtheta_i, acc_theta, dt); + + //calculate positions + x_i = computeNewXPosition(x_i, vx_i, vy_i, theta_i, dt); + y_i = computeNewYPosition(y_i, vx_i, vy_i, theta_i, dt); + theta_i = computeNewThetaPosition(theta_i, vtheta_i, dt); + + //increment time + time += dt; + } // end for i < numsteps + + //ROS_INFO("OccCost: %f, vx: %.2f, vy: %.2f, vtheta: %.2f", occ_cost, vx_samp, vy_samp, vtheta_samp); + double cost = -1.0; + if (!heading_scoring_) { + cost = path_distance_bias_ * path_dist + goal_dist * goal_distance_bias_ + occdist_scale_ * occ_cost; + } else { + cost = occdist_scale_ * occ_cost + path_distance_bias_ * path_dist + 0.3 * heading_diff + goal_dist * goal_distance_bias_; + } + traj.cost_ = cost; + } + + double TrajectoryPlanner::headingDiff(int cell_x, int cell_y, double x, double y, double heading){ + unsigned int goal_cell_x, goal_cell_y; + + // find a clear line of sight from the robot's cell to a farthest point on the path + for (int i = global_plan_.size() - 1; i >=0; --i) { + if (costmap_.worldToMap(global_plan_[i].pose.position.x, global_plan_[i].pose.position.y, goal_cell_x, goal_cell_y)) { + if (lineCost(cell_x, goal_cell_x, cell_y, goal_cell_y) >= 0) { + double gx, gy; + costmap_.mapToWorld(goal_cell_x, goal_cell_y, gx, gy); + return fabs(angles::shortest_angular_distance(heading, atan2(gy - y, gx - x))); + } + } + } + return DBL_MAX; + } + + //calculate the cost of a ray-traced line + double TrajectoryPlanner::lineCost(int x0, int x1, + int y0, int y1){ + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + double line_cost = 0.0; + double point_cost = -1.0; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } else { // There is at least one y-value for every x-value + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) { + point_cost = pointCost(x, y); //Score the current point + + if (point_cost < 0) { + return -1; + } + + if (line_cost < point_cost) { + line_cost = point_cost; + } + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) { // Check if numerator >= denominator + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } + + return line_cost; + } + + double TrajectoryPlanner::pointCost(int x, int y){ + unsigned char cost = costmap_.getCost(x, y); + //if the cell is in an obstacle the path is invalid + if(cost == LETHAL_OBSTACLE || cost == INSCRIBED_INFLATED_OBSTACLE || cost == NO_INFORMATION){ + return -1; + } + + return cost; + } + + void TrajectoryPlanner::updatePlan(const vector& new_plan, bool compute_dists){ + global_plan_.resize(new_plan.size()); + for(unsigned int i = 0; i < new_plan.size(); ++i){ + global_plan_[i] = new_plan[i]; + } + + if( global_plan_.size() > 0 ){ + geometry_msgs::PoseStamped& final_goal_pose = global_plan_[ global_plan_.size() - 1 ]; + final_goal_x_ = final_goal_pose.pose.position.x; + final_goal_y_ = final_goal_pose.pose.position.y; + final_goal_position_valid_ = true; + } else { + final_goal_position_valid_ = false; + } + + if (compute_dists) { + //reset the map for new operations + path_map_.resetPathDist(); + goal_map_.resetPathDist(); + + //make sure that we update our path based on the global plan and compute costs + path_map_.setTargetCells(costmap_, global_plan_); + goal_map_.setLocalGoal(costmap_, global_plan_); + ROS_DEBUG("Path/Goal distance computed"); + } + } + + bool TrajectoryPlanner::checkTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp){ + Trajectory t; + + double cost = scoreTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp); + + //if the trajectory is a legal one... the check passes + if(cost >= 0) { + return true; + } + ROS_WARN("Invalid Trajectory %f, %f, %f, cost: %f", vx_samp, vy_samp, vtheta_samp, cost); + + //otherwise the check fails + return false; + } + + double TrajectoryPlanner::scoreTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp) { + Trajectory t; + double impossible_cost = path_map_.obstacleCosts(); + generateTrajectory(x, y, theta, + vx, vy, vtheta, + vx_samp, vy_samp, vtheta_samp, + acc_lim_x_, acc_lim_y_, acc_lim_theta_, + impossible_cost, t); + + // return the cost. + return double( t.cost_ ); + } + + /* + * create the trajectories we wish to score + */ + Trajectory TrajectoryPlanner::createTrajectories(double x, double y, double theta, + double vx, double vy, double vtheta, + double acc_x, double acc_y, double acc_theta) { + //compute feasible velocity limits in robot space + double max_vel_x = max_vel_x_, max_vel_theta; + double min_vel_x, min_vel_theta; + + if( final_goal_position_valid_ ){ + double final_goal_dist = hypot( final_goal_x_ - x, final_goal_y_ - y ); + max_vel_x = min( max_vel_x, final_goal_dist / sim_time_ ); + } + + //should we use the dynamic window approach? + if (dwa_) { + max_vel_x = max(min(max_vel_x, vx + acc_x * sim_period_), min_vel_x_); + min_vel_x = max(min_vel_x_, vx - acc_x * sim_period_); + + max_vel_theta = min(max_vel_th_, vtheta + acc_theta * sim_period_); + min_vel_theta = max(min_vel_th_, vtheta - acc_theta * sim_period_); + } else { + max_vel_x = max(min(max_vel_x, vx + acc_x * sim_time_), min_vel_x_); + min_vel_x = max(min_vel_x_, vx - acc_x * sim_time_); + + max_vel_theta = min(max_vel_th_, vtheta + acc_theta * sim_time_); + min_vel_theta = max(min_vel_th_, vtheta - acc_theta * sim_time_); + } + + + //we want to sample the velocity space regularly + double dvx = (max_vel_x - min_vel_x) / (vx_samples_ - 1); + double dvtheta = (max_vel_theta - min_vel_theta) / (vtheta_samples_ - 1); + + double vx_samp = min_vel_x; + double vtheta_samp = min_vel_theta; + double vy_samp = 0.0; + + //keep track of the best trajectory seen so far + Trajectory* best_traj = &traj_one; + best_traj->cost_ = -1.0; + + Trajectory* comp_traj = &traj_two; + comp_traj->cost_ = -1.0; + + Trajectory* swap = NULL; + + //any cell with a cost greater than the size of the map is impossible + double impossible_cost = path_map_.obstacleCosts(); + + //if we're performing an escape we won't allow moving forward + if (!escaping_) { + //loop through all x velocities + for(int i = 0; i < vx_samples_; ++i) { + vtheta_samp = 0; + //first sample the straight trajectory + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + + vtheta_samp = min_vel_theta; + //next sample all theta trajectories + for(int j = 0; j < vtheta_samples_ - 1; ++j){ + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + vtheta_samp += dvtheta; + } + vx_samp += dvx; + } + + //only explore y velocities with holonomic robots + if (holonomic_robot_) { + //explore trajectories that move forward but also strafe slightly + vx_samp = 0.1; + vy_samp = 0.1; + vtheta_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + + vx_samp = 0.1; + vy_samp = -0.1; + vtheta_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + } + } // end if not escaping + + //next we want to generate trajectories for rotating in place + vtheta_samp = min_vel_theta; + vx_samp = 0.0; + vy_samp = 0.0; + + //let's try to rotate toward open space + double heading_dist = DBL_MAX; + + for(int i = 0; i < vtheta_samples_; ++i) { + //enforce a minimum rotational velocity because the base can't handle small in-place rotations + double vtheta_samp_limited = vtheta_samp > 0 ? max(vtheta_samp, min_in_place_vel_th_) + : min(vtheta_samp, -1.0 * min_in_place_vel_th_); + + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp_limited, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it... + //note if we can legally rotate in place we prefer to do that rather than move with y velocity + if(comp_traj->cost_ >= 0 + && (comp_traj->cost_ <= best_traj->cost_ || best_traj->cost_ < 0 || best_traj->yv_ != 0.0) + && (vtheta_samp > dvtheta || vtheta_samp < -1 * dvtheta)){ + double x_r, y_r, th_r; + comp_traj->getEndpoint(x_r, y_r, th_r); + x_r += heading_lookahead_ * cos(th_r); + y_r += heading_lookahead_ * sin(th_r); + unsigned int cell_x, cell_y; + + //make sure that we'll be looking at a legal cell + if (costmap_.worldToMap(x_r, y_r, cell_x, cell_y)) { + double ahead_gdist = goal_map_(cell_x, cell_y).target_dist; + if (ahead_gdist < heading_dist) { + //if we haven't already tried rotating left since we've moved forward + if (vtheta_samp < 0 && !stuck_left) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + //if we haven't already tried rotating right since we've moved forward + else if(vtheta_samp > 0 && !stuck_right) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + } + } + } + + vtheta_samp += dvtheta; + } + + //do we have a legal trajectory + if (best_traj->cost_ >= 0) { + // avoid oscillations of in place rotation and in place strafing + if ( ! (best_traj->xv_ > 0)) { + if (best_traj->thetav_ < 0) { + if (rotating_right) { + stuck_right = true; + } + rotating_right = true; + } else if (best_traj->thetav_ > 0) { + if (rotating_left){ + stuck_left = true; + } + rotating_left = true; + } else if(best_traj->yv_ > 0) { + if (strafe_right) { + stuck_right_strafe = true; + } + strafe_right = true; + } else if(best_traj->yv_ < 0){ + if (strafe_left) { + stuck_left_strafe = true; + } + strafe_left = true; + } + + //set the position we must move a certain distance away from + prev_x_ = x; + prev_y_ = y; + } + + double dist = hypot(x - prev_x_, y - prev_y_); + if (dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + dist = hypot(x - escape_x_, y - escape_y_); + if(dist > escape_reset_dist_ || + fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_){ + escaping_ = false; + } + + return *best_traj; + } + + //only explore y velocities with holonomic robots + if (holonomic_robot_) { + //if we can't rotate in place or move forward... maybe we can move sideways and rotate + vtheta_samp = min_vel_theta; + vx_samp = 0.0; + + //loop through all y velocities + for(unsigned int i = 0; i < y_vels_.size(); ++i){ + vtheta_samp = 0; + vy_samp = y_vels_[i]; + //sample completely horizontal trajectories + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ <= best_traj->cost_ || best_traj->cost_ < 0)){ + double x_r, y_r, th_r; + comp_traj->getEndpoint(x_r, y_r, th_r); + x_r += heading_lookahead_ * cos(th_r); + y_r += heading_lookahead_ * sin(th_r); + unsigned int cell_x, cell_y; + + //make sure that we'll be looking at a legal cell + if(costmap_.worldToMap(x_r, y_r, cell_x, cell_y)) { + double ahead_gdist = goal_map_(cell_x, cell_y).target_dist; + if (ahead_gdist < heading_dist) { + //if we haven't already tried strafing left since we've moved forward + if (vy_samp > 0 && !stuck_left_strafe) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + //if we haven't already tried rotating right since we've moved forward + else if(vy_samp < 0 && !stuck_right_strafe) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + } + } + } + } + } + + //do we have a legal trajectory + if (best_traj->cost_ >= 0) { + if (!(best_traj->xv_ > 0)) { + if (best_traj->thetav_ < 0) { + if (rotating_right){ + stuck_right = true; + } + rotating_left = true; + } else if(best_traj->thetav_ > 0) { + if(rotating_left){ + stuck_left = true; + } + rotating_right = true; + } else if(best_traj->yv_ > 0) { + if(strafe_right){ + stuck_right_strafe = true; + } + strafe_left = true; + } else if(best_traj->yv_ < 0) { + if(strafe_left){ + stuck_left_strafe = true; + } + strafe_right = true; + } + + //set the position we must move a certain distance away from + prev_x_ = x; + prev_y_ = y; + + } + + double dist = hypot(x - prev_x_, y - prev_y_); + if(dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + dist = hypot(x - escape_x_, y - escape_y_); + if(dist > escape_reset_dist_ || fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_) { + escaping_ = false; + } + + return *best_traj; + } + + //and finally, if we can't do anything else, we want to generate trajectories that move backwards slowly + vtheta_samp = 0.0; + vx_samp = backup_vel_; + vy_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + /* + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + */ + + //we'll allow moving backwards slowly even when the static map shows it as blocked + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + + double dist = hypot(x - prev_x_, y - prev_y_); + if (dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + //only enter escape mode when the planner has given a valid goal point + if (!escaping_ && best_traj->cost_ > -2.0) { + escape_x_ = x; + escape_y_ = y; + escape_theta_ = theta; + escaping_ = true; + } + + dist = hypot(x - escape_x_, y - escape_y_); + + if (dist > escape_reset_dist_ || + fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_) { + escaping_ = false; + } + + + //if the trajectory failed because the footprint hits something, we're still going to back up + if(best_traj->cost_ == -1.0) + best_traj->cost_ = 1.0; + + return *best_traj; + + } + + //given the current state of the robot, find a good trajectory + Trajectory TrajectoryPlanner::findBestPath(const geometry_msgs::PoseStamped& global_pose, + geometry_msgs::PoseStamped& global_vel, geometry_msgs::PoseStamped& drive_velocities) { + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + Eigen::Vector3f vel(global_vel.pose.position.x, global_vel.pose.position.y, tf2::getYaw(global_vel.pose.orientation)); + + //reset the map for new operations + path_map_.resetPathDist(); + goal_map_.resetPathDist(); + + //temporarily remove obstacles that are within the footprint of the robot + std::vector footprint_list = + footprint_helper_.getFootprintCells( + pos, + footprint_spec_, + costmap_, + true); + + //mark cells within the initial footprint of the robot + for (unsigned int i = 0; i < footprint_list.size(); ++i) { + path_map_(footprint_list[i].x, footprint_list[i].y).within_robot = true; + } + + //make sure that we update our path based on the global plan and compute costs + path_map_.setTargetCells(costmap_, global_plan_); + goal_map_.setLocalGoal(costmap_, global_plan_); + ROS_DEBUG("Path/Goal distance computed"); + + //rollout trajectories and find the minimum cost one + Trajectory best = createTrajectories(pos[0], pos[1], pos[2], + vel[0], vel[1], vel[2], + acc_lim_x_, acc_lim_y_, acc_lim_theta_); + ROS_DEBUG("Trajectories created"); + + /* + //If we want to print a ppm file to draw goal dist + char buf[4096]; + sprintf(buf, "base_local_planner.ppm"); + FILE *fp = fopen(buf, "w"); + if(fp){ + fprintf(fp, "P3\n"); + fprintf(fp, "%d %d\n", map_.size_x_, map_.size_y_); + fprintf(fp, "255\n"); + for(int j = map_.size_y_ - 1; j >= 0; --j){ + for(unsigned int i = 0; i < map_.size_x_; ++i){ + int g_dist = 255 - int(map_(i, j).goal_dist); + int p_dist = 255 - int(map_(i, j).path_dist); + if(g_dist < 0) + g_dist = 0; + if(p_dist < 0) + p_dist = 0; + fprintf(fp, "%d 0 %d ", g_dist, 0); + } + fprintf(fp, "\n"); + } + fclose(fp); + } + */ + + if(best.cost_ < 0){ + drive_velocities.pose.position.x = 0; + drive_velocities.pose.position.y = 0; + drive_velocities.pose.position.z = 0; + drive_velocities.pose.orientation.w = 1; + drive_velocities.pose.orientation.x = 0; + drive_velocities.pose.orientation.y = 0; + drive_velocities.pose.orientation.z = 0; + } + else{ + drive_velocities.pose.position.x = best.xv_; + drive_velocities.pose.position.y = best.yv_; + drive_velocities.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, best.thetav_); + tf2::convert(q, drive_velocities.pose.orientation); + } + + return best; + } + + //we need to take the footprint of the robot into account when we calculate cost to obstacles + double TrajectoryPlanner::footprintCost(double x_i, double y_i, double theta_i){ + //check if the footprint is legal + return world_model_.footprintCost(x_i, y_i, theta_i, footprint_spec_, inscribed_radius_, circumscribed_radius_); + } + + + void TrajectoryPlanner::getLocalGoal(double& x, double& y){ + x = path_map_.goal_x_; + y = path_map_.goal_y_; + } + +}; + + diff --git a/src/navigation/base_local_planner/src/trajectory_planner_ros.cpp b/src/navigation/base_local_planner/src/trajectory_planner_ros.cpp new file mode 100644 index 0000000..b7aaea6 --- /dev/null +++ b/src/navigation/base_local_planner/src/trajectory_planner_ros.cpp @@ -0,0 +1,617 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ + +#include + +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include + +#include +#include + +#include + +#include + +#include +#include + +#include +#include + +//register this planner as a BaseLocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(base_local_planner::TrajectoryPlannerROS, nav_core::BaseLocalPlanner) + +namespace base_local_planner { + + void TrajectoryPlannerROS::reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level) { + if (setup_ && config.restore_defaults) { + config = default_config_; + //Avoid looping + config.restore_defaults = false; + } + if ( ! setup_) { + default_config_ = config; + setup_ = true; + } + tc_->reconfigure(config); + reached_goal_ = false; + } + + TrajectoryPlannerROS::TrajectoryPlannerROS() : + world_model_(NULL), tc_(NULL), costmap_ros_(NULL), tf_(NULL), setup_(false), initialized_(false), odom_helper_("odom") {} + + TrajectoryPlannerROS::TrajectoryPlannerROS(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) : + world_model_(NULL), tc_(NULL), costmap_ros_(NULL), tf_(NULL), setup_(false), initialized_(false), odom_helper_("odom") { + + //initialize the planner + initialize(name, tf, costmap_ros); + } + + void TrajectoryPlannerROS::initialize( + std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros){ + if (! isInitialized()) { + + ros::NodeHandle private_nh("~/" + name); + g_plan_pub_ = private_nh.advertise("global_plan", 1); + l_plan_pub_ = private_nh.advertise("local_plan", 1); + + + tf_ = tf; + costmap_ros_ = costmap_ros; + rot_stopped_velocity_ = 1e-2; + trans_stopped_velocity_ = 1e-2; + double sim_time, sim_granularity, angular_sim_granularity; + int vx_samples, vtheta_samples; + double path_distance_bias, goal_distance_bias, occdist_scale, heading_lookahead, oscillation_reset_dist, escape_reset_dist, escape_reset_theta; + bool holonomic_robot, dwa, simple_attractor, heading_scoring; + double heading_scoring_timestep; + double max_vel_x, min_vel_x; + double backup_vel; + double stop_time_buffer; + std::string world_model_type; + rotating_to_goal_ = false; + + //initialize the copy of the costmap the controller will use + costmap_ = costmap_ros_->getCostmap(); + + + global_frame_ = costmap_ros_->getGlobalFrameID(); + robot_base_frame_ = costmap_ros_->getBaseFrameID(); + private_nh.param("prune_plan", prune_plan_, true); + + private_nh.param("yaw_goal_tolerance", yaw_goal_tolerance_, 0.05); + private_nh.param("xy_goal_tolerance", xy_goal_tolerance_, 0.10); + private_nh.param("acc_lim_x", acc_lim_x_, 2.5); + private_nh.param("acc_lim_y", acc_lim_y_, 2.5); + private_nh.param("acc_lim_theta", acc_lim_theta_, 3.2); + + private_nh.param("stop_time_buffer", stop_time_buffer, 0.2); + + private_nh.param("latch_xy_goal_tolerance", latch_xy_goal_tolerance_, false); + + //Since I screwed up nicely in my documentation, I'm going to add errors + //informing the user if they've set one of the wrong parameters + if(private_nh.hasParam("acc_limit_x")) + ROS_ERROR("You are using acc_limit_x where you should be using acc_lim_x. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + if(private_nh.hasParam("acc_limit_y")) + ROS_ERROR("You are using acc_limit_y where you should be using acc_lim_y. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + if(private_nh.hasParam("acc_limit_th")) + ROS_ERROR("You are using acc_limit_th where you should be using acc_lim_th. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + //Assuming this planner is being run within the navigation stack, we can + //just do an upward search for the frequency at which its being run. This + //also allows the frequency to be overwritten locally. + std::string controller_frequency_param_name; + if(!private_nh.searchParam("controller_frequency", controller_frequency_param_name)) + sim_period_ = 0.05; + else + { + double controller_frequency = 0; + private_nh.param(controller_frequency_param_name, controller_frequency, 20.0); + if(controller_frequency > 0) + sim_period_ = 1.0 / controller_frequency; + else + { + ROS_WARN("A controller_frequency less than 0 has been set. Ignoring the parameter, assuming a rate of 20Hz"); + sim_period_ = 0.05; + } + } + ROS_INFO("Sim period is set to %.2f", sim_period_); + + private_nh.param("sim_time", sim_time, 1.0); + private_nh.param("sim_granularity", sim_granularity, 0.025); + private_nh.param("angular_sim_granularity", angular_sim_granularity, sim_granularity); + private_nh.param("vx_samples", vx_samples, 3); + private_nh.param("vtheta_samples", vtheta_samples, 20); + + path_distance_bias = nav_core::loadParameterWithDeprecation(private_nh, + "path_distance_bias", + "pdist_scale", + 0.6); + goal_distance_bias = nav_core::loadParameterWithDeprecation(private_nh, + "goal_distance_bias", + "gdist_scale", + 0.6); + // values of the deprecated params need to be applied to the current params, as defaults + // of defined for dynamic reconfigure will override them otherwise. + if (private_nh.hasParam("pdist_scale") & !private_nh.hasParam("path_distance_bias")) + { + private_nh.setParam("path_distance_bias", path_distance_bias); + } + if (private_nh.hasParam("gdist_scale") & !private_nh.hasParam("goal_distance_bias")) + { + private_nh.setParam("goal_distance_bias", goal_distance_bias); + } + + private_nh.param("occdist_scale", occdist_scale, 0.01); + + bool meter_scoring; + if ( ! private_nh.hasParam("meter_scoring")) { + ROS_WARN("Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution."); + } else { + private_nh.param("meter_scoring", meter_scoring, false); + + if(meter_scoring) { + //if we use meter scoring, then we want to multiply the biases by the resolution of the costmap + double resolution = costmap_->getResolution(); + goal_distance_bias *= resolution; + path_distance_bias *= resolution; + } else { + ROS_WARN("Trajectory Rollout planner initialized with param meter_scoring set to false. Set it to true to make your settings robust against changes of costmap resolution."); + } + } + + private_nh.param("heading_lookahead", heading_lookahead, 0.325); + private_nh.param("oscillation_reset_dist", oscillation_reset_dist, 0.05); + private_nh.param("escape_reset_dist", escape_reset_dist, 0.10); + private_nh.param("escape_reset_theta", escape_reset_theta, M_PI_4); + private_nh.param("holonomic_robot", holonomic_robot, true); + private_nh.param("max_vel_x", max_vel_x, 0.5); + private_nh.param("min_vel_x", min_vel_x, 0.1); + + double max_rotational_vel; + private_nh.param("max_rotational_vel", max_rotational_vel, 1.0); + max_vel_th_ = max_rotational_vel; + min_vel_th_ = -1.0 * max_rotational_vel; + + min_in_place_vel_th_ = nav_core::loadParameterWithDeprecation(private_nh, + "min_in_place_vel_theta", + "min_in_place_rotational_vel", 0.4); + reached_goal_ = false; + backup_vel = -0.1; + if(private_nh.getParam("backup_vel", backup_vel)) + ROS_WARN("The backup_vel parameter has been deprecated in favor of the escape_vel parameter. To switch, just change the parameter name in your configuration files."); + + //if both backup_vel and escape_vel are set... we'll use escape_vel + private_nh.getParam("escape_vel", backup_vel); + + if(backup_vel >= 0.0) + ROS_WARN("You've specified a positive escape velocity. This is probably not what you want and will cause the robot to move forward instead of backward. You should probably change your escape_vel parameter to be negative"); + + private_nh.param("world_model", world_model_type, std::string("costmap")); + private_nh.param("dwa", dwa, true); + private_nh.param("heading_scoring", heading_scoring, false); + private_nh.param("heading_scoring_timestep", heading_scoring_timestep, 0.8); + + simple_attractor = false; + + //parameters for using the freespace controller + double min_pt_separation, max_obstacle_height, grid_resolution; + private_nh.param("point_grid/max_sensor_range", max_sensor_range_, 2.0); + private_nh.param("point_grid/min_pt_separation", min_pt_separation, 0.01); + private_nh.param("point_grid/max_obstacle_height", max_obstacle_height, 2.0); + private_nh.param("point_grid/grid_resolution", grid_resolution, 0.2); + + ROS_ASSERT_MSG(world_model_type == "costmap", "At this time, only costmap world models are supported by this controller"); + world_model_ = new CostmapModel(*costmap_); + std::vector y_vels = loadYVels(private_nh); + + footprint_spec_ = costmap_ros_->getRobotFootprint(); + + tc_ = new TrajectoryPlanner(*world_model_, *costmap_, footprint_spec_, + acc_lim_x_, acc_lim_y_, acc_lim_theta_, sim_time, sim_granularity, vx_samples, vtheta_samples, path_distance_bias, + goal_distance_bias, occdist_scale, heading_lookahead, oscillation_reset_dist, escape_reset_dist, escape_reset_theta, holonomic_robot, + max_vel_x, min_vel_x, max_vel_th_, min_vel_th_, min_in_place_vel_th_, backup_vel, + dwa, heading_scoring, heading_scoring_timestep, meter_scoring, simple_attractor, y_vels, stop_time_buffer, sim_period_, angular_sim_granularity); + + map_viz_.initialize(name, global_frame_, boost::bind(&TrajectoryPlanner::getCellCosts, tc_, _1, _2, _3, _4, _5, _6)); + initialized_ = true; + + dsrv_ = new dynamic_reconfigure::Server(private_nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&TrajectoryPlannerROS::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + + } else { + ROS_WARN("This planner has already been initialized, doing nothing"); + } + } + + std::vector TrajectoryPlannerROS::loadYVels(ros::NodeHandle node){ + std::vector y_vels; + + std::string y_vel_list; + if(node.getParam("y_vels", y_vel_list)){ + typedef boost::tokenizer > tokenizer; + boost::char_separator sep("[], "); + tokenizer tokens(y_vel_list, sep); + + for(tokenizer::iterator i = tokens.begin(); i != tokens.end(); i++){ + y_vels.push_back(atof((*i).c_str())); + } + } + else{ + //if no values are passed in, we'll provide defaults + y_vels.push_back(-0.3); + y_vels.push_back(-0.1); + y_vels.push_back(0.1); + y_vels.push_back(0.3); + } + + return y_vels; + } + + TrajectoryPlannerROS::~TrajectoryPlannerROS() { + //make sure to clean things up + delete dsrv_; + + if(tc_ != NULL) + delete tc_; + + if(world_model_ != NULL) + delete world_model_; + } + + bool TrajectoryPlannerROS::stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, geometry_msgs::Twist& cmd_vel){ + //slow down with the maximum possible acceleration... we should really use the frequency that we're running at to determine what is feasible + //but we'll use a tenth of a second to be consistent with the implementation of the local planner. + double vx = sign(robot_vel.pose.position.x) * std::max(0.0, (fabs(robot_vel.pose.position.x) - acc_lim_x_ * sim_period_)); + double vy = sign(robot_vel.pose.position.y) * std::max(0.0, (fabs(robot_vel.pose.position.y) - acc_lim_y_ * sim_period_)); + + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + double vth = sign(vel_yaw) * std::max(0.0, (fabs(vel_yaw) - acc_lim_theta_ * sim_period_)); + + //we do want to check whether or not the command is valid + double yaw = tf2::getYaw(global_pose.pose.orientation); + bool valid_cmd = tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, yaw, + robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw, vx, vy, vth); + + //if we have a valid command, we'll pass it on, otherwise we'll command all zeros + if(valid_cmd){ + ROS_DEBUG("Slowing down... using vx, vy, vth: %.2f, %.2f, %.2f", vx, vy, vth); + cmd_vel.linear.x = vx; + cmd_vel.linear.y = vy; + cmd_vel.angular.z = vth; + return true; + } + + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + return false; + } + + bool TrajectoryPlannerROS::rotateToGoal(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel){ + double yaw = tf2::getYaw(global_pose.pose.orientation); + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + cmd_vel.linear.x = 0; + cmd_vel.linear.y = 0; + double ang_diff = angles::shortest_angular_distance(yaw, goal_th); + + double v_theta_samp = ang_diff > 0.0 ? std::min(max_vel_th_, + std::max(min_in_place_vel_th_, ang_diff)) : std::max(min_vel_th_, + std::min(-1.0 * min_in_place_vel_th_, ang_diff)); + + //take the acceleration limits of the robot into account + double max_acc_vel = fabs(vel_yaw) + acc_lim_theta_ * sim_period_; + double min_acc_vel = fabs(vel_yaw) - acc_lim_theta_ * sim_period_; + + v_theta_samp = sign(v_theta_samp) * std::min(std::max(fabs(v_theta_samp), min_acc_vel), max_acc_vel); + + //we also want to make sure to send a velocity that allows us to stop when we reach the goal given our acceleration limits + double max_speed_to_stop = sqrt(2 * acc_lim_theta_ * fabs(ang_diff)); + + v_theta_samp = sign(v_theta_samp) * std::min(max_speed_to_stop, fabs(v_theta_samp)); + + // Re-enforce min_in_place_vel_th_. It is more important than the acceleration limits. + v_theta_samp = v_theta_samp > 0.0 + ? std::min( max_vel_th_, std::max( min_in_place_vel_th_, v_theta_samp )) + : std::max( min_vel_th_, std::min( -1.0 * min_in_place_vel_th_, v_theta_samp )); + + //we still want to lay down the footprint of the robot and check if the action is legal + bool valid_cmd = tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, yaw, + robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw, 0.0, 0.0, v_theta_samp); + + ROS_DEBUG("Moving to desired goal orientation, th cmd: %.2f, valid_cmd: %d", v_theta_samp, valid_cmd); + + if(valid_cmd){ + cmd_vel.angular.z = v_theta_samp; + return true; + } + + cmd_vel.angular.z = 0.0; + return false; + + } + + bool TrajectoryPlannerROS::setPlan(const std::vector& orig_global_plan){ + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + //reset the global plan + global_plan_.clear(); + global_plan_ = orig_global_plan; + + //when we get a new plan, we also want to clear any latch we may have on goal tolerances + xy_tolerance_latch_ = false; + //reset the at goal flag + reached_goal_ = false; + return true; + } + + bool TrajectoryPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel){ + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + std::vector local_plan; + geometry_msgs::PoseStamped global_pose; + if (!costmap_ros_->getRobotPose(global_pose)) { + return false; + } + + std::vector transformed_plan; + //get the global plan in our frame + if (!transformGlobalPlan(*tf_, global_plan_, global_pose, *costmap_, global_frame_, transformed_plan)) { + ROS_WARN("Could not transform the global plan to the frame of the controller"); + return false; + } + + //now we'll prune the plan based on the position of the robot + if(prune_plan_) + prunePlan(global_pose, transformed_plan, global_plan_); + + geometry_msgs::PoseStamped drive_cmds; + drive_cmds.header.frame_id = robot_base_frame_; + + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + + /* For timing uncomment + struct timeval start, end; + double start_t, end_t, t_diff; + gettimeofday(&start, NULL); + */ + + //if the global plan passed in is empty... we won't do anything + if(transformed_plan.empty()) + return false; + + const geometry_msgs::PoseStamped& goal_point = transformed_plan.back(); + //we assume the global goal is the last point in the global plan + const double goal_x = goal_point.pose.position.x; + const double goal_y = goal_point.pose.position.y; + + const double yaw = tf2::getYaw(goal_point.pose.orientation); + + double goal_th = yaw; + + //check to see if we've reached the goal position + if (xy_tolerance_latch_ || (getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance_)) { + + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_) { + xy_tolerance_latch_ = true; + } + + double angle = getGoalOrientationAngleDifference(global_pose, goal_th); + //check to see if the goal orientation has been reached + if (fabs(angle) <= yaw_goal_tolerance_) { + //set the velocity command to zero + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + rotating_to_goal_ = false; + xy_tolerance_latch_ = false; + reached_goal_ = true; + } else { + //we need to call the next two lines to make sure that the trajectory + //planner updates its path distance and goal distance grids + tc_->updatePlan(transformed_plan); + Trajectory path = tc_->findBestPath(global_pose, robot_vel, drive_cmds); + map_viz_.publishCostCloud(costmap_); + + //copy over the odometry information + nav_msgs::Odometry base_odom; + odom_helper_.getOdom(base_odom); + + //if we're not stopped yet... we want to stop... taking into account the acceleration limits of the robot + if ( ! rotating_to_goal_ && !base_local_planner::stopped(base_odom, rot_stopped_velocity_, trans_stopped_velocity_)) { + if ( ! stopWithAccLimits(global_pose, robot_vel, cmd_vel)) { + return false; + } + } + //if we're stopped... then we want to rotate to goal + else{ + //set this so that we know its OK to be moving + rotating_to_goal_ = true; + if(!rotateToGoal(global_pose, robot_vel, goal_th, cmd_vel)) { + return false; + } + } + } + + //publish an empty plan because we've reached our goal position + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + + //we don't actually want to run the controller when we're just rotating to goal + return true; + } + + tc_->updatePlan(transformed_plan); + + //compute what trajectory to drive along + Trajectory path = tc_->findBestPath(global_pose, robot_vel, drive_cmds); + + map_viz_.publishCostCloud(costmap_); + /* For timing uncomment + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + ROS_INFO("Cycle time: %.9f", t_diff); + */ + + //pass along drive commands + cmd_vel.linear.x = drive_cmds.pose.position.x; + cmd_vel.linear.y = drive_cmds.pose.position.y; + cmd_vel.angular.z = tf2::getYaw(drive_cmds.pose.orientation); + + //if we cannot move... tell someone + if (path.cost_ < 0) { + ROS_DEBUG_NAMED("trajectory_planner_ros", + "The rollout planner failed to find a valid plan. This means that the footprint of the robot was in collision for all simulated trajectories."); + local_plan.clear(); + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + return false; + } + + ROS_DEBUG_NAMED("trajectory_planner_ros", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z); + + // Fill out the local plan + for (unsigned int i = 0; i < path.getPointsSize(); ++i) { + double p_x, p_y, p_th; + path.getPoint(i, p_x, p_y, p_th); + geometry_msgs::PoseStamped pose; + pose.header.frame_id = global_frame_; + pose.header.stamp = ros::Time::now(); + pose.pose.position.x = p_x; + pose.pose.position.y = p_y; + pose.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0, 0, p_th); + tf2::convert(q, pose.pose.orientation); + local_plan.push_back(pose); + } + + //publish information to the visualizer + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + return true; + } + + bool TrajectoryPlannerROS::checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map){ + geometry_msgs::PoseStamped global_pose; + if(costmap_ros_->getRobotPose(global_pose)){ + if(update_map){ + //we need to give the planne some sort of global plan, since we're only checking for legality + //we'll just give the robots current position + std::vector plan; + plan.push_back(global_pose); + tc_->updatePlan(plan, true); + } + + //copy over the odometry information + nav_msgs::Odometry base_odom; + { + boost::recursive_mutex::scoped_lock lock(odom_lock_); + base_odom = base_odom_; + } + + return tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation), + base_odom.twist.twist.linear.x, + base_odom.twist.twist.linear.y, + base_odom.twist.twist.angular.z, vx_samp, vy_samp, vtheta_samp); + + } + ROS_WARN("Failed to get the pose of the robot. No trajectories will pass as legal in this case."); + return false; + } + + + double TrajectoryPlannerROS::scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map){ + // Copy of checkTrajectory that returns a score instead of True / False + geometry_msgs::PoseStamped global_pose; + if(costmap_ros_->getRobotPose(global_pose)){ + if(update_map){ + //we need to give the planne some sort of global plan, since we're only checking for legality + //we'll just give the robots current position + std::vector plan; + plan.push_back(global_pose); + tc_->updatePlan(plan, true); + } + + //copy over the odometry information + nav_msgs::Odometry base_odom; + { + boost::recursive_mutex::scoped_lock lock(odom_lock_); + base_odom = base_odom_; + } + + return tc_->scoreTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation), + base_odom.twist.twist.linear.x, + base_odom.twist.twist.linear.y, + base_odom.twist.twist.angular.z, vx_samp, vy_samp, vtheta_samp); + + } + ROS_WARN("Failed to get the pose of the robot. No trajectories will pass as legal in this case."); + return -1.0; + } + + bool TrajectoryPlannerROS::isGoalReached() { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + //return flag set in controller + return reached_goal_; + } +}; diff --git a/src/navigation/base_local_planner/src/twirling_cost_function.cpp b/src/navigation/base_local_planner/src/twirling_cost_function.cpp new file mode 100644 index 0000000..3f29135 --- /dev/null +++ b/src/navigation/base_local_planner/src/twirling_cost_function.cpp @@ -0,0 +1,18 @@ +/* + * twirling_cost_function.cpp + * + * Created on: Apr 20, 2016 + * Author: Morgan Quigley + */ + +#include + +#include + +namespace base_local_planner { + +double TwirlingCostFunction::scoreTrajectory(Trajectory &traj) { + return fabs(traj.thetav_); // add cost for making the robot spin +} + +} /* namespace base_local_planner */ diff --git a/src/navigation/base_local_planner/src/voxel_grid_model.cpp b/src/navigation/base_local_planner/src/voxel_grid_model.cpp new file mode 100644 index 0000000..32596aa --- /dev/null +++ b/src/navigation/base_local_planner/src/voxel_grid_model.cpp @@ -0,0 +1,314 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + VoxelGridModel::VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, + double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range) : + obstacle_grid_(size_x, size_y, size_z), xy_resolution_(xy_resolution), z_resolution_(z_resolution), + origin_x_(origin_x), origin_y_(origin_y), origin_z_(origin_z), + max_z_(max_z), sq_obstacle_range_(obstacle_range * obstacle_range) {} + + double VoxelGridModel::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + if(footprint.size() < 3) + return -1.0; + + //now we really have to lay down the footprint in the costmap grid + unsigned int x0, x1, y0, y1; + double line_cost = 0.0; + + //we need to rasterize each line in the footprint + for(unsigned int i = 0; i < footprint.size() - 1; ++i){ + //get the cell coord of the first point + if(!worldToMap2D(footprint[i].x, footprint[i].y, x0, y0)) + return -1.0; + + //get the cell coord of the second point + if(!worldToMap2D(footprint[i + 1].x, footprint[i + 1].y, x1, y1)) + return -1.0; + + line_cost = lineCost(x0, x1, y0, y1); + + //if there is an obstacle that hits the line... we know that we can return false right away + if(line_cost < 0) + return -1.0; + } + + //we also need to connect the first point in the footprint to the last point + //get the cell coord of the last point + if(!worldToMap2D(footprint.back().x, footprint.back().y, x0, y0)) + return -1.0; + + //get the cell coord of the first point + if(!worldToMap2D(footprint.front().x, footprint.front().y, x1, y1)) + return -1.0; + + line_cost = lineCost(x0, x1, y0, y1); + + if(line_cost < 0) + return -1.0; + + //if all line costs are legal... then we can return that the footprint is legal + return 0.0; + } + + //calculate the cost of a ray-traced line + double VoxelGridModel::lineCost(int x0, int x1, + int y0, int y1){ + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + double line_cost = 0.0; + double point_cost = -1.0; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) + { + point_cost = pointCost(x, y); //Score the current point + + if(point_cost < 0) + return -1; + + if(line_cost < point_cost) + line_cost = point_cost; + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) // Check if numerator >= denominator + { + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } + + return line_cost; + } + + double VoxelGridModel::pointCost(int x, int y){ + //if the cell is in an obstacle the path is invalid + if(obstacle_grid_.getVoxelColumn(x, y)){ + return -1; + } + + return 1; + } + + void VoxelGridModel::updateWorld(const std::vector& footprint, + const vector& observations, const vector& laser_scans){ + + //remove points in the laser scan boundry + for(unsigned int i = 0; i < laser_scans.size(); ++i) + removePointsInScanBoundry(laser_scans[i], 10.0); + + //iterate through all observations and update the grid + for(vector::const_iterator it = observations.begin(); it != observations.end(); ++it){ + const Observation& obs = *it; + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + geometry_msgs::Point32 pt; + + for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ + //filter out points that are too high + if(*iter_z > max_z_) + continue; + + //compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x) + + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y) + + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z); + + if(sq_dist >= sq_obstacle_range_) + continue; + + //insert the point + pt.x = *iter_x; + pt.y = *iter_y; + pt.z = *iter_z; + insert(pt); + } + } + + //remove the points that are in the footprint of the robot + //removePointsInPolygon(footprint); + } + + void VoxelGridModel::removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range){ + if(laser_scan.cloud.points.size() == 0) + return; + + unsigned int sensor_x, sensor_y, sensor_z; + double ox = laser_scan.origin.x; + double oy = laser_scan.origin.y; + double oz = laser_scan.origin.z; + + if(!worldToMap3D(ox, oy, oz, sensor_x, sensor_y, sensor_z)) + return; + + for(unsigned int i = 0; i < laser_scan.cloud.points.size(); ++i){ + double wpx = laser_scan.cloud.points[i].x; + double wpy = laser_scan.cloud.points[i].y; + double wpz = laser_scan.cloud.points[i].z; + + double distance = dist(ox, oy, oz, wpx, wpy, wpz); + double scaling_fact = raytrace_range / distance; + scaling_fact = scaling_fact > 1.0 ? 1.0 : scaling_fact; + wpx = scaling_fact * (wpx - ox) + ox; + wpy = scaling_fact * (wpy - oy) + oy; + wpz = scaling_fact * (wpz - oz) + oz; + + //we can only raytrace to a maximum z height + if(wpz >= max_z_){ + //we know we want the vector's z value to be max_z + double a = wpx - ox; + double b = wpy - oy; + double c = wpz - oz; + double t = (max_z_ - .01 - oz) / c; + wpx = ox + a * t; + wpy = oy + b * t; + wpz = oz + c * t; + } + //and we can only raytrace down to the floor + else if(wpz < 0.0){ + //we know we want the vector's z value to be 0.0 + double a = wpx - ox; + double b = wpy - oy; + double c = wpz - oz; + double t = (0.0 - oz) / c; + wpx = ox + a * t; + wpy = oy + b * t; + wpz = oz + c * t; + } + + unsigned int point_x, point_y, point_z; + if(worldToMap3D(wpx, wpy, wpz, point_x, point_y, point_z)){ + obstacle_grid_.clearVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z); + } + } + } + + void VoxelGridModel::getPoints(sensor_msgs::PointCloud2& cloud){ + size_t n = 0; + + for(unsigned int i = 0; i < obstacle_grid_.sizeX(); ++i) + for(unsigned int j = 0; j < obstacle_grid_.sizeY(); ++j) + for(unsigned int k = 0; k < obstacle_grid_.sizeZ(); ++k) + if(obstacle_grid_.getVoxel(i, j, k)) + ++n; + + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.resize(n); + + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + + for(unsigned int i = 0; i < obstacle_grid_.sizeX(); ++i){ + for(unsigned int j = 0; j < obstacle_grid_.sizeY(); ++j){ + for(unsigned int k = 0; k < obstacle_grid_.sizeZ(); ++k){ + if(obstacle_grid_.getVoxel(i, j, k)){ + double wx, wy, wz; + mapToWorld3D(i, j, k, wx, wy, wz); + *iter_x = wx; + *iter_y = wy; + *iter_z = wz; + ++iter_x; + ++iter_y; + ++iter_z; + } + } + } + } + } +}; diff --git a/src/navigation/base_local_planner/test/footprint_helper_test.cpp b/src/navigation/base_local_planner/test/footprint_helper_test.cpp new file mode 100644 index 0000000..5d3f768 --- /dev/null +++ b/src/navigation/base_local_planner/test/footprint_helper_test.cpp @@ -0,0 +1,145 @@ +/* + * footprint_helper_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +#include +#include +#include + +#include "wavefront_map_accessor.h" + +namespace base_local_planner { + + +class FootprintHelperTest : public testing::Test { +public: + FootprintHelper fh; + + FootprintHelperTest() { + } + + virtual void TestBody(){} + + void correctLineCells() { + std::vector footprint; + fh.getLineCells(0, 10, 0, 10, footprint); + EXPECT_EQ(11, footprint.size()); + EXPECT_EQ(footprint[0].x, 0); + EXPECT_EQ(footprint[0].y, 0); + EXPECT_EQ(footprint[5].x, 5); + EXPECT_EQ(footprint[5].y, 5); + EXPECT_EQ(footprint[10].x, 10); + EXPECT_EQ(footprint[10].y, 10); + } + + void correctFootprint(){ + MapGrid* mg = new MapGrid (10, 10); + WavefrontMapAccessor* wa = new WavefrontMapAccessor(mg, .25); + const costmap_2d::Costmap2D& map = *wa; + + std::vector footprint_spec; + geometry_msgs::Point pt; + //create a square footprint + pt.x = 2; + pt.y = 2; + footprint_spec.push_back(pt); + pt.x = 2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = 2; + footprint_spec.push_back(pt); + + Eigen::Vector3f pos(4.5, 4.5, 0); + //just create a basic footprint + std::vector footprint = fh.getFootprintCells(pos, footprint_spec, map, false); + + EXPECT_EQ(20, footprint.size()); + //we expect the front line to be first + EXPECT_EQ(footprint[0].x, 6); EXPECT_EQ(footprint[0].y, 6); + EXPECT_EQ(footprint[1].x, 6); EXPECT_EQ(footprint[1].y, 5); + EXPECT_EQ(footprint[2].x, 6); EXPECT_EQ(footprint[2].y, 4); + EXPECT_EQ(footprint[3].x, 6); EXPECT_EQ(footprint[3].y, 3); + EXPECT_EQ(footprint[4].x, 6); EXPECT_EQ(footprint[4].y, 2); + + //next the right line + EXPECT_EQ(footprint[5].x, 6); EXPECT_EQ(footprint[5].y, 2); + EXPECT_EQ(footprint[6].x, 5); EXPECT_EQ(footprint[6].y, 2); + EXPECT_EQ(footprint[7].x, 4); EXPECT_EQ(footprint[7].y, 2); + EXPECT_EQ(footprint[8].x, 3); EXPECT_EQ(footprint[8].y, 2); + EXPECT_EQ(footprint[9].x, 2); EXPECT_EQ(footprint[9].y, 2); + + //next the back line + EXPECT_EQ(footprint[10].x, 2); EXPECT_EQ(footprint[10].y, 2); + EXPECT_EQ(footprint[11].x, 2); EXPECT_EQ(footprint[11].y, 3); + EXPECT_EQ(footprint[12].x, 2); EXPECT_EQ(footprint[12].y, 4); + EXPECT_EQ(footprint[13].x, 2); EXPECT_EQ(footprint[13].y, 5); + EXPECT_EQ(footprint[14].x, 2); EXPECT_EQ(footprint[14].y, 6); + + //finally the left line + EXPECT_EQ(footprint[15].x, 2); EXPECT_EQ(footprint[15].y, 6); + EXPECT_EQ(footprint[16].x, 3); EXPECT_EQ(footprint[16].y, 6); + EXPECT_EQ(footprint[17].x, 4); EXPECT_EQ(footprint[17].y, 6); + EXPECT_EQ(footprint[18].x, 5); EXPECT_EQ(footprint[18].y, 6); + EXPECT_EQ(footprint[19].x, 6); EXPECT_EQ(footprint[19].y, 6); + + + pos = Eigen::Vector3f(4.5, 4.5, M_PI_2); + //check that rotation of the footprint works + footprint = fh.getFootprintCells(pos, footprint_spec, map, false); + + //first the left line + EXPECT_EQ(footprint[0].x, 2); EXPECT_EQ(footprint[0].y, 6); + EXPECT_EQ(footprint[1].x, 3); EXPECT_EQ(footprint[1].y, 6); + EXPECT_EQ(footprint[2].x, 4); EXPECT_EQ(footprint[2].y, 6); + EXPECT_EQ(footprint[3].x, 5); EXPECT_EQ(footprint[3].y, 6); + EXPECT_EQ(footprint[4].x, 6); EXPECT_EQ(footprint[4].y, 6); + + //next the front line + EXPECT_EQ(footprint[5].x, 6); EXPECT_EQ(footprint[5].y, 6); + EXPECT_EQ(footprint[6].x, 6); EXPECT_EQ(footprint[6].y, 5); + EXPECT_EQ(footprint[7].x, 6); EXPECT_EQ(footprint[7].y, 4); + EXPECT_EQ(footprint[8].x, 6); EXPECT_EQ(footprint[8].y, 3); + EXPECT_EQ(footprint[9].x, 6); EXPECT_EQ(footprint[9].y, 2); + + //next the right line + EXPECT_EQ(footprint[10].x, 6); EXPECT_EQ(footprint[10].y, 2); + EXPECT_EQ(footprint[11].x, 5); EXPECT_EQ(footprint[11].y, 2); + EXPECT_EQ(footprint[12].x, 4); EXPECT_EQ(footprint[12].y, 2); + EXPECT_EQ(footprint[13].x, 3); EXPECT_EQ(footprint[13].y, 2); + EXPECT_EQ(footprint[14].x, 2); EXPECT_EQ(footprint[14].y, 2); + + //next the back line + EXPECT_EQ(footprint[15].x, 2); EXPECT_EQ(footprint[15].y, 2); + EXPECT_EQ(footprint[16].x, 2); EXPECT_EQ(footprint[16].y, 3); + EXPECT_EQ(footprint[17].x, 2); EXPECT_EQ(footprint[17].y, 4); + EXPECT_EQ(footprint[18].x, 2); EXPECT_EQ(footprint[18].y, 5); + EXPECT_EQ(footprint[19].x, 2); EXPECT_EQ(footprint[19].y, 6); + } + +}; + + +TEST(FootprintHelperTest, correctFootprint){ + FootprintHelperTest tct; + tct.correctFootprint(); +} + +TEST(FootprintHelperTest, correctLineCells){ + FootprintHelperTest tct; + tct.correctLineCells(); +} + +} diff --git a/src/navigation/base_local_planner/test/gtest_main.cpp b/src/navigation/base_local_planner/test/gtest_main.cpp new file mode 100644 index 0000000..8d5005c --- /dev/null +++ b/src/navigation/base_local_planner/test/gtest_main.cpp @@ -0,0 +1,18 @@ +/* + * gtest_main.cpp + * + * Created on: Apr 6, 2012 + * Author: tkruse + */ + +#include + +#include + +int main(int argc, char **argv) { + std::cout << "Running main() from gtest_main.cc\n"; + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + diff --git a/src/navigation/base_local_planner/test/line_iterator_test.cpp b/src/navigation/base_local_planner/test/line_iterator_test.cpp new file mode 100644 index 0000000..2ff7c42 --- /dev/null +++ b/src/navigation/base_local_planner/test/line_iterator_test.cpp @@ -0,0 +1,81 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include + +#include "base_local_planner/line_iterator.h" + +TEST( LineIterator, south ) +{ + base_local_planner::LineIterator line( 1, 2, 1, 4 ); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 2, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 3, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 4, line.getY() ); + line.advance(); + EXPECT_FALSE( line.isValid() ); +} + +TEST( LineIterator, north_north_west ) +{ + base_local_planner::LineIterator line( 0, 0, -2, -4 ); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 0, line.getX() ); + EXPECT_EQ( 0, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -1, line.getX() ); + EXPECT_EQ( -1, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -1, line.getX() ); + EXPECT_EQ( -2, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -2, line.getX() ); + EXPECT_EQ( -3, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -2, line.getX() ); + EXPECT_EQ( -4, line.getY() ); + line.advance(); + EXPECT_FALSE( line.isValid() ); +} + +int main( int argc, char **argv ) { + testing::InitGoogleTest( &argc, argv ); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/base_local_planner/test/map_grid_test.cpp b/src/navigation/base_local_planner/test/map_grid_test.cpp new file mode 100644 index 0000000..59b63f2 --- /dev/null +++ b/src/navigation/base_local_planner/test/map_grid_test.cpp @@ -0,0 +1,206 @@ +/* + * map_grid_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ +#include + +#include + +#include +#include + +#include "wavefront_map_accessor.h" + +namespace base_local_planner { + +TEST(MapGridTest, initNull){ + MapGrid map_grid; + EXPECT_EQ(0, map_grid.size_x_); + EXPECT_EQ(0, map_grid.size_y_); +} + +TEST(MapGridTest, operatorBrackets){ + MapGrid map_grid(10, 10); + map_grid(3, 5).target_dist = 5; + EXPECT_EQ(5, map_grid.getCell(3, 5).target_dist); +} + +TEST(MapGridTest, copyConstructor){ + MapGrid map_grid(10, 10); + map_grid(3, 5).target_dist = 5; + MapGrid map_grid2; + map_grid2 = map_grid; + EXPECT_EQ(5, map_grid(3, 5).target_dist); +} + +TEST(MapGridTest, getIndex){ + MapGrid map_grid(10, 10); + EXPECT_EQ(53, map_grid.getIndex(3, 5)); +} + +TEST(MapGridTest, reset){ + MapGrid map_grid(10, 10); + map_grid(0, 0).target_dist = 1; + map_grid(0, 0).target_mark = true; + map_grid(0, 0).within_robot = true; + map_grid(3, 5).target_dist = 1; + map_grid(3, 5).target_mark = true; + map_grid(3, 5).within_robot = true; + map_grid(9, 9).target_dist = 1; + map_grid(9, 9).target_mark = true; + map_grid(9, 9).within_robot = true; + EXPECT_EQ(1, map_grid(0, 0).target_dist); + EXPECT_EQ(true, map_grid(0, 0).target_mark); + EXPECT_EQ(true, map_grid(0, 0).within_robot); + EXPECT_EQ(1, map_grid(3, 5).target_dist); + EXPECT_EQ(true, map_grid(3, 5).target_mark); + EXPECT_EQ(true, map_grid(3, 5).within_robot); + EXPECT_EQ(1, map_grid(9, 9).target_dist); + EXPECT_EQ(true, map_grid(9, 9).target_mark); + EXPECT_EQ(true, map_grid(9, 9).within_robot); + + map_grid.resetPathDist(); + + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(9, 9).target_dist); + EXPECT_EQ(false, map_grid(9, 9).target_mark); + EXPECT_EQ(false, map_grid(9, 9).within_robot); + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(3, 5).target_dist); + EXPECT_EQ(false, map_grid(3, 5).target_mark); + EXPECT_EQ(false, map_grid(3, 5).within_robot); + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(0, 0).target_dist); + EXPECT_EQ(false, map_grid(0, 0).target_mark); + EXPECT_EQ(false, map_grid(0, 0).within_robot); +} + + +TEST(MapGridTest, properGridConstruction){ + MapGrid mg(10, 10); + MapCell mc; + + for(int i = 0; i < 10; ++i){ + for(int j = 0; j < 10; ++j){ + EXPECT_FLOAT_EQ(mg(i, j).cx, i); + EXPECT_FLOAT_EQ(mg(i, j).cy, j); + } + } +} + +TEST(MapGridTest, sizeCheck){ + MapGrid mg(10, 10); + MapCell mc; + + mg.sizeCheck(20, 25); + + for(int i = 0; i < 20; ++i){ + for(int j = 0; j < 25; ++j){ + EXPECT_FLOAT_EQ(mg(i, j).cx, i); + EXPECT_FLOAT_EQ(mg(i, j).cy, j); + } + } +} + +TEST(MapGridTest, adjustPlanEmpty){ + MapGrid mg(10, 10); + const std::vector global_plan_in; + std::vector global_plan_out; + double resolution = 0; + mg.adjustPlanResolution(global_plan_in, global_plan_out, resolution); + EXPECT_EQ(0, global_plan_out.size()); +} + +TEST(MapGridTest, adjustPlan){ + MapGrid mg(10, 10); + std::vector global_plan_in; + std::vector global_plan_out; + double resolution = 1; + geometry_msgs::PoseStamped start; + start.pose.position.x = 1; + start.pose.position.y = 1; + geometry_msgs::PoseStamped end; + end.pose.position.x = 5; + end.pose.position.y = 5; + global_plan_in.push_back(start); + global_plan_in.push_back(end); + mg.adjustPlanResolution(global_plan_in, global_plan_out, resolution); + + EXPECT_EQ(1, global_plan_out[0].pose.position.x); + EXPECT_EQ(1, global_plan_out[0].pose.position.y); + EXPECT_EQ(5, global_plan_out.back().pose.position.x); + EXPECT_EQ(5, global_plan_out.back().pose.position.y); + + for (unsigned int i = 1; i < global_plan_out.size(); ++i) + { + geometry_msgs::Point& p0 = global_plan_out[i - 1].pose.position; + geometry_msgs::Point& p1 = global_plan_out[i].pose.position; + double d = hypot(p0.x - p1.x, p0.y - p1.y); + EXPECT_LT(d, resolution); + } +} + +TEST(MapGridTest, adjustPlan2){ + std::vector base_plan, result; + + // Push two points, at (0,0) and (0,1). Gap is 1 meter + base_plan.push_back(geometry_msgs::PoseStamped()); + base_plan.push_back(geometry_msgs::PoseStamped()); + base_plan.back().pose.position.y = 1.0; + + // resolution >= 1, path won't change + MapGrid::adjustPlanResolution(base_plan, result, 2.0); + EXPECT_EQ(2, result.size()); + result.clear(); + MapGrid::adjustPlanResolution(base_plan, result, 1.0); + EXPECT_EQ(2, result.size()); + result.clear(); + + // 0.5 <= resolution < 1.0, one point should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.8); + EXPECT_EQ(3, result.size()); + result.clear(); + MapGrid::adjustPlanResolution(base_plan, result, 0.5); + EXPECT_EQ(3, result.size()); + result.clear(); + + // 0.333 <= resolution < 0.5, two points should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.34); + EXPECT_EQ(4, result.size()); + result.clear(); + + // 0.25 <= resolution < 0.333, three points should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.32); + EXPECT_EQ(5, result.size()); + result.clear(); + + MapGrid::adjustPlanResolution(base_plan, result, 0.1); + EXPECT_EQ(11, result.size()); + result.clear(); +} + +TEST(MapGridTest, distancePropagation){ + MapGrid mg(10, 10); + + WavefrontMapAccessor* wa = new WavefrontMapAccessor(&mg, .25); + std::queue dist_queue; + mg.computeTargetDistance(dist_queue, *wa); + EXPECT_EQ(false, mg(0, 0).target_mark); + + MapCell& mc = mg.getCell(0, 0); + mc.target_dist = 0.0; + mc.target_mark = true; + dist_queue.push(&mc); + mg.computeTargetDistance(dist_queue, *wa); + EXPECT_EQ(true, mg(0, 0).target_mark); + EXPECT_EQ(0.0, mg(0, 0).target_dist); + EXPECT_EQ(true, mg(1, 1).target_mark); + EXPECT_EQ(2.0, mg(1, 1).target_dist); + EXPECT_EQ(true, mg(0, 4).target_mark); + EXPECT_EQ(4.0, mg(0, 4).target_dist); + EXPECT_EQ(true, mg(4, 0).target_mark); + EXPECT_EQ(4.0, mg(4, 0).target_dist); + EXPECT_EQ(true, mg(9, 9).target_mark); + EXPECT_EQ(18.0, mg(9, 9).target_dist); +} + +} diff --git a/src/navigation/base_local_planner/test/trajectory_generator_test.cpp b/src/navigation/base_local_planner/test/trajectory_generator_test.cpp new file mode 100644 index 0000000..6aa3c5d --- /dev/null +++ b/src/navigation/base_local_planner/test/trajectory_generator_test.cpp @@ -0,0 +1,26 @@ +/* + * footprint_helper_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +namespace base_local_planner { + +class TrajectoryGeneratorTest : public testing::Test { +public: + SimpleTrajectoryGenerator tg; + + TrajectoryGeneratorTest() { + } + + virtual void TestBody(){} +}; + +} diff --git a/src/navigation/base_local_planner/test/utest.cpp b/src/navigation/base_local_planner/test/utest.cpp new file mode 100644 index 0000000..dea4c2d --- /dev/null +++ b/src/navigation/base_local_planner/test/utest.cpp @@ -0,0 +1,215 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "wavefront_map_accessor.h" + +using namespace std; + +namespace base_local_planner { + +class TrajectoryPlannerTest : public testing::Test { + public: + TrajectoryPlannerTest(MapGrid* g, WavefrontMapAccessor* wave, const costmap_2d::Costmap2D& map, std::vector footprint_spec); + void correctFootprint(); + void footprintObstacles(); + void checkGoalDistance(); + void checkPathDistance(); + virtual void TestBody(){} + + MapGrid* map_; + WavefrontMapAccessor* wa; + CostmapModel cm; + TrajectoryPlanner tc; +}; + +TrajectoryPlannerTest::TrajectoryPlannerTest(MapGrid* g, WavefrontMapAccessor* wave, const costmap_2d::Costmap2D& map, std::vector footprint_spec) +: map_(g), wa(wave), cm(map), tc(cm, map, footprint_spec, 0.0, 1.0, 1.0, 1.0, 1.0, 2.0) +{} + + + +void TrajectoryPlannerTest::footprintObstacles(){ + //place an obstacle + map_->operator ()(4, 6).target_dist = 1; + wa->synchronize(); + EXPECT_EQ(wa->getCost(4,6), costmap_2d::LETHAL_OBSTACLE); + Trajectory traj(0, 0, 0, 0.1, 30); + //tc->generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 4, 0, 0, 4, 0, 0, DBL_MAX, traj, 2, 30); + tc.generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 4, 0, 0, 4, 0, 0, DBL_MAX, traj); + //we expect this path to hit the obstacle + EXPECT_FLOAT_EQ(traj.cost_, -1.0); + + //place a wall next to the footprint of the robot + tc.path_map_(7, 1).target_dist = 1; + tc.path_map_(7, 3).target_dist = 1; + tc.path_map_(7, 4).target_dist = 1; + tc.path_map_(7, 5).target_dist = 1; + tc.path_map_(7, 6).target_dist = 1; + tc.path_map_(7, 7).target_dist = 1; + wa->synchronize(); + + //try to rotate into it + //tc->generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 0, 0, M_PI_2, 0, 0, M_PI_4, 100, traj, 2, 30); + tc.generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 0, 0, M_PI_2, 0, 0, M_PI_4, 100, traj); + //we expect this path to hit the obstacle + EXPECT_FLOAT_EQ(traj.cost_, -1.0); +} + +void TrajectoryPlannerTest::checkGoalDistance(){ + //let's box a cell in and make sure that its distance gets set to max + map_->operator ()(1, 2).target_dist = 1; + map_->operator ()(1, 1).target_dist = 1; + map_->operator ()(1, 0).target_dist = 1; + map_->operator ()(2, 0).target_dist = 1; + map_->operator ()(3, 0).target_dist = 1; + map_->operator ()(3, 1).target_dist = 1; + map_->operator ()(3, 2).target_dist = 1; + map_->operator ()(2, 2).target_dist = 1; + wa->synchronize(); + + //set a goal + tc.path_map_.resetPathDist(); + queue target_dist_queue; + MapCell& current = tc.path_map_(4, 9); + current.target_dist = 0.0; + current.target_mark = true; + target_dist_queue.push(¤t); + tc.path_map_.computeTargetDistance(target_dist_queue, tc.costmap_); + + EXPECT_FLOAT_EQ(tc.path_map_(4, 8).target_dist, 1.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 7).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 6).target_dist, 100.0); //there's an obstacle here placed above + EXPECT_FLOAT_EQ(tc.path_map_(4, 5).target_dist, 6.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 4).target_dist, 7.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 3).target_dist, 8.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 2).target_dist, 9.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 1).target_dist, 10.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 0).target_dist, 11.0); + EXPECT_FLOAT_EQ(tc.path_map_(5, 8).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(9, 4).target_dist, 10.0); + + //check the boxed in cell + EXPECT_FLOAT_EQ(100.0, tc.path_map_(2, 2).target_dist); + +} + +void TrajectoryPlannerTest::checkPathDistance(){ + tc.path_map_.resetPathDist(); + queue target_dist_queue; + MapCell& current = tc.path_map_(4, 9); + current.target_dist = 0.0; + current.target_mark = true; + target_dist_queue.push(¤t); + tc.path_map_.computeTargetDistance(target_dist_queue, tc.costmap_); + + EXPECT_FLOAT_EQ(tc.path_map_(4, 8).target_dist, 1.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 7).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 6).target_dist, 100.0); //there's an obstacle here placed above + EXPECT_FLOAT_EQ(tc.path_map_(4, 5).target_dist, 6.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 4).target_dist, 7.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 3).target_dist, 8.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 2).target_dist, 9.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 1).target_dist, 10.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 0).target_dist, 11.0); + EXPECT_FLOAT_EQ(tc.path_map_(5, 8).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(9, 4).target_dist, 10.0); + + //check the boxed in cell + EXPECT_FLOAT_EQ(tc.path_map_(2, 2).target_dist, 100.0); + +} + + +TrajectoryPlannerTest* tct = NULL; + +TrajectoryPlannerTest* setup_testclass_singleton() { + if (tct == NULL) { + MapGrid* mg = new MapGrid (10, 10); + WavefrontMapAccessor* wa = new WavefrontMapAccessor(mg, .25); + const costmap_2d::Costmap2D& map = *wa; + std::vector footprint_spec; + geometry_msgs::Point pt; + //create a square footprint + pt.x = 2; + pt.y = 2; + footprint_spec.push_back(pt); + pt.x = 2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = 2; + footprint_spec.push_back(pt); + + tct = new base_local_planner::TrajectoryPlannerTest(mg, wa, map, footprint_spec); + } + return tct; +} + +//make sure that trajectories that intersect obstacles are invalidated +TEST(TrajectoryPlannerTest, footprintObstacles){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->footprintObstacles(); +} + +//make sure that goal distance is being computed as expected +TEST(TrajectoryPlannerTest, checkGoalDistance){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->checkGoalDistance(); +} + +//make sure that path distance is being computed as expected +TEST(TrajectoryPlannerTest, checkPathDistance){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->checkPathDistance(); +} + +}; //namespace diff --git a/src/navigation/base_local_planner/test/velocity_iterator_test.cpp b/src/navigation/base_local_planner/test/velocity_iterator_test.cpp new file mode 100644 index 0000000..44bc113 --- /dev/null +++ b/src/navigation/base_local_planner/test/velocity_iterator_test.cpp @@ -0,0 +1,178 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ + + + + +#include + +#include + + +namespace base_local_planner { + +TEST(VelocityIteratorTest, testsingle) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(0.0, 0.0, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(0, result[0]); +} + +TEST(VelocityIteratorTest, testsingle_pos) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(2.2, 2.2, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(2.2, result[0]); +} + +TEST(VelocityIteratorTest, testsingle_neg) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-3.3, -3.3, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(-3.3, result[0]); +} + +TEST(VelocityIteratorTest, test1) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(3, i); + double expected [3]= {-30.0, 0.0, 30.0}; + for (int j = 0; j < 3; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test1_pos) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(10, 30, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(2, i); + double expected [2]= {10.0, 30.0}; + for (int j = 0; j < 2; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test1_neg) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, -10, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(2, i); + double expected [2]= {-30.0, -10.0}; + for (int j = 0; j < 2; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test3) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 3); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(3, i); + double expected [3]= {-30.0, 0.0, 30}; + for (int j = 0; j < 3; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test4) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 4); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(5, i); + double expected [5]= {-30.0, -10.0, 0.0, 10.0, 30}; + for (int j = 0; j < 5; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test_shifted) { + // test where zero is not in the middle + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-10, 50, 4); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(5, i); + double expected [5]= {-10.0, 0.0, 10.0, 30, 50}; + for (int j = 0; j < 5; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test_cranky) { + // test where one value is almost zero (nothing to do about that) + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-10.00001, 10, 3); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(4, i); + for (int j = 0; j < 5; ++j) { + double expected [5]= {-10.00001, -0.000005, 0.0, 10.0}; + EXPECT_FLOAT_EQ(expected[j], result[j]); + } +} + +} // namespace diff --git a/src/navigation/base_local_planner/test/wavefront_map_accessor.h b/src/navigation/base_local_planner/test/wavefront_map_accessor.h new file mode 100644 index 0000000..a7b3454 --- /dev/null +++ b/src/navigation/base_local_planner/test/wavefront_map_accessor.h @@ -0,0 +1,50 @@ +/* + * wavefront_map_accessor.h + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#ifndef WAVEFRONT_MAP_ACCESSOR_H_ +#define WAVEFRONT_MAP_ACCESSOR_H_ +#include +namespace base_local_planner { + +/** + * Map_grids rely on costmaps to identify obstacles. We need a costmap that we can easily manipulate for unit tests. + * This class has a grid map where we can set grid cell state, and a synchronize method to make the costmap match. + */ +class WavefrontMapAccessor : public costmap_2d::Costmap2D { + public: + WavefrontMapAccessor(MapGrid* map, double outer_radius) + : costmap_2d::Costmap2D(map->size_x_, map->size_y_, 1, 0, 0), + map_(map), outer_radius_(outer_radius) { + synchronize(); + } + + virtual ~WavefrontMapAccessor(){}; + + void synchronize(){ + // Write Cost Data from the map + for(unsigned int x = 0; x < size_x_; x++){ + for (unsigned int y = 0; y < size_y_; y++){ + unsigned int ind = x + (y * size_x_); + if(map_->operator ()(x, y).target_dist == 1) { + costmap_[ind] = costmap_2d::LETHAL_OBSTACLE; + } else { + costmap_[ind] = 0; + } + } + } + } + + private: + MapGrid* map_; + double outer_radius_; +}; + +} + + + +#endif /* WAVEFRONT_MAP_ACCESSOR_H_ */ diff --git a/src/navigation/carrot_planner/CHANGELOG.rst b/src/navigation/carrot_planner/CHANGELOG.rst new file mode 100644 index 0000000..e4b4aaa --- /dev/null +++ b/src/navigation/carrot_planner/CHANGELOG.rst @@ -0,0 +1,120 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package carrot_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Fix carrot planner (`#1056 `_) + * fix memory leak of world_model\_ + * fix uninitialized raw pointers + * move the angles header into cpp + * add missing angles dependency + Co-authored-by: Dima Dorezyuk +* Contributors: Dima Dorezyuk + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix depends of carrot_planner + * declare direct dependency on tf2 + * alphabetize the depends in CMake +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Rein Appeldoorn, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/carrot_planner/CMakeLists.txt b/src/navigation/carrot_planner/CMakeLists.txt new file mode 100644 index 0000000..f0a9632 --- /dev/null +++ b/src/navigation/carrot_planner/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(carrot_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES carrot_planner + CATKIN_DEPENDS + angles + base_local_planner + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +add_library(carrot_planner src/carrot_planner.cpp) +add_dependencies(carrot_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(carrot_planner + ${catkin_LIBRARIES} + ) + +install(TARGETS carrot_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + diff --git a/src/navigation/carrot_planner/bgp_plugin.xml b/src/navigation/carrot_planner/bgp_plugin.xml new file mode 100644 index 0000000..cde6b32 --- /dev/null +++ b/src/navigation/carrot_planner/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A simple planner that seeks to place a legal carrot in-front of the robot + + + diff --git a/src/navigation/carrot_planner/include/carrot_planner/carrot_planner.h b/src/navigation/carrot_planner/include/carrot_planner/carrot_planner.h new file mode 100644 index 0000000..c240de4 --- /dev/null +++ b/src/navigation/carrot_planner/include/carrot_planner/carrot_planner.h @@ -0,0 +1,107 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef CARROT_PLANNER_H_ +#define CARROT_PLANNER_H_ +#include +#include +#include +#include + +#include + +#include +#include + +namespace carrot_planner{ + /** + * @class CarrotPlanner + * @brief Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found. + */ + class CarrotPlanner : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Constructor for the CarrotPlanner + */ + CarrotPlanner(); + /** + * @brief Constructor for the CarrotPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor + */ + ~CarrotPlanner(); + + /** + * @brief Initialization function for the CarrotPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan); + + private: + costmap_2d::Costmap2DROS* costmap_ros_; + double step_size_, min_dist_from_robot_; + costmap_2d::Costmap2D* costmap_; + base_local_planner::WorldModel* world_model_; ///< @brief The world model that the controller will use + + /** + * @brief Checks the legality of the robot footprint at a position and orientation using the world model + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @return + */ + double footprintCost(double x_i, double y_i, double theta_i); + + bool initialized_; + }; +}; +#endif diff --git a/src/navigation/carrot_planner/package.xml b/src/navigation/carrot_planner/package.xml new file mode 100644 index 0000000..39f2668 --- /dev/null +++ b/src/navigation/carrot_planner/package.xml @@ -0,0 +1,39 @@ + + + + carrot_planner + 1.17.2 + + + This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point. + + + Eitan Marder-Eppstein + Sachin Chitta + contradict@gmail.com + Aaron Hoy + David V. Lu!! + Michael Ferguson + BSD + http://wiki.ros.org/carrot_planner + + catkin + + tf2_geometry_msgs + + angles + base_local_planner + costmap_2d + eigen + nav_core + pluginlib + roscpp + tf2 + tf2_ros + + + + + + + diff --git a/src/navigation/carrot_planner/src/carrot_planner.cpp b/src/navigation/carrot_planner/src/carrot_planner.cpp new file mode 100644 index 0000000..c801ced --- /dev/null +++ b/src/navigation/carrot_planner/src/carrot_planner.cpp @@ -0,0 +1,175 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Authors: Eitan Marder-Eppstein, Sachin Chitta +*********************************************************************/ +#include +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanner) + +namespace carrot_planner { + + CarrotPlanner::CarrotPlanner() + : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){} + + CarrotPlanner::CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros) + : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){ + initialize(name, costmap_ros); + } + + CarrotPlanner::~CarrotPlanner() { + // deleting a nullptr is a noop + delete world_model_; + } + + void CarrotPlanner::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){ + if(!initialized_){ + costmap_ros_ = costmap_ros; + costmap_ = costmap_ros_->getCostmap(); + + ros::NodeHandle private_nh("~/" + name); + private_nh.param("step_size", step_size_, costmap_->getResolution()); + private_nh.param("min_dist_from_robot", min_dist_from_robot_, 0.10); + world_model_ = new base_local_planner::CostmapModel(*costmap_); + + initialized_ = true; + } + else + ROS_WARN("This planner has already been initialized... doing nothing"); + } + + //we need to take the footprint of the robot into account when we calculate cost to obstacles + double CarrotPlanner::footprintCost(double x_i, double y_i, double theta_i){ + if(!initialized_){ + ROS_ERROR("The planner has not been initialized, please call initialize() to use the planner"); + return -1.0; + } + + std::vector footprint = costmap_ros_->getRobotFootprint(); + //if we have no footprint... do nothing + if(footprint.size() < 3) + return -1.0; + + //check if the footprint is legal + double footprint_cost = world_model_->footprintCost(x_i, y_i, theta_i, footprint); + return footprint_cost; + } + + + bool CarrotPlanner::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan){ + + if(!initialized_){ + ROS_ERROR("The planner has not been initialized, please call initialize() to use the planner"); + return false; + } + + ROS_DEBUG("Got a start: %.2f, %.2f, and a goal: %.2f, %.2f", start.pose.position.x, start.pose.position.y, goal.pose.position.x, goal.pose.position.y); + + plan.clear(); + costmap_ = costmap_ros_->getCostmap(); + + if(goal.header.frame_id != costmap_ros_->getGlobalFrameID()){ + ROS_ERROR("This planner as configured will only accept goals in the %s frame, but a goal was sent in the %s frame.", + costmap_ros_->getGlobalFrameID().c_str(), goal.header.frame_id.c_str()); + return false; + } + + const double start_yaw = tf2::getYaw(start.pose.orientation); + const double goal_yaw = tf2::getYaw(goal.pose.orientation); + + //we want to step back along the vector created by the robot's position and the goal pose until we find a legal cell + double goal_x = goal.pose.position.x; + double goal_y = goal.pose.position.y; + double start_x = start.pose.position.x; + double start_y = start.pose.position.y; + + double diff_x = goal_x - start_x; + double diff_y = goal_y - start_y; + double diff_yaw = angles::normalize_angle(goal_yaw-start_yaw); + + double target_x = goal_x; + double target_y = goal_y; + double target_yaw = goal_yaw; + + bool done = false; + double scale = 1.0; + double dScale = 0.01; + + while(!done) + { + if(scale < 0) + { + target_x = start_x; + target_y = start_y; + target_yaw = start_yaw; + ROS_WARN("The carrot planner could not find a valid plan for this goal"); + break; + } + target_x = start_x + scale * diff_x; + target_y = start_y + scale * diff_y; + target_yaw = angles::normalize_angle(start_yaw + scale * diff_yaw); + + double footprint_cost = footprintCost(target_x, target_y, target_yaw); + if(footprint_cost >= 0) + { + done = true; + } + scale -=dScale; + } + + plan.push_back(start); + geometry_msgs::PoseStamped new_goal = goal; + tf2::Quaternion goal_quat; + goal_quat.setRPY(0, 0, target_yaw); + + new_goal.pose.position.x = target_x; + new_goal.pose.position.y = target_y; + + new_goal.pose.orientation.x = goal_quat.x(); + new_goal.pose.orientation.y = goal_quat.y(); + new_goal.pose.orientation.z = goal_quat.z(); + new_goal.pose.orientation.w = goal_quat.w(); + + plan.push_back(new_goal); + return (done); + } + +}; diff --git a/src/navigation/clear_costmap_recovery/CHANGELOG.rst b/src/navigation/clear_costmap_recovery/CHANGELOG.rst new file mode 100644 index 0000000..7cd123c --- /dev/null +++ b/src/navigation/clear_costmap_recovery/CHANGELOG.rst @@ -0,0 +1,150 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package clear_costmap_recovery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* check if the layer is derived from costmap_2d::CostmapLayer (`#1054 `_) + Co-authored-by: Dima Dorezyuk +* Add invert_area_to_clear to clear costmap recovery behavior (`#1030 `_) +* Contributors: Dima Dorezyuk, G.Doisy + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#877 `_ from SteveMacenski/layer_clear_area-melodic + [melodic] moving clearing area method to costmap_layer so other applications can clear other types. +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Add force_updating and affected_maps parameters to tailor clear costmaps recovey (`#838 `_) + behavior +* clear area in layer for melodic +* Contributors: Jorge Santos Simón, Michael Ferguson, Steven Macenski, stevemacenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* remove GCC warnings +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* proper locking during costmap update +* Contributors: Michael Ferguson + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- +* Fix the build (layers library is exported by costmap_2d) +* Contributors: Michael Ferguson + +1.11.12 (2014-10-01) +-------------------- +* Clarify debug messages +* Initial Clearing Costmap parameter change +* Contributors: David Lu!!, Michael Ferguson + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* Misc. other commits from Groovy Branch +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Fix bounds setting diff --git a/src/navigation/clear_costmap_recovery/CMakeLists.txt b/src/navigation/clear_costmap_recovery/CMakeLists.txt new file mode 100644 index 0000000..f0753b2 --- /dev/null +++ b/src/navigation/clear_costmap_recovery/CMakeLists.txt @@ -0,0 +1,66 @@ +cmake_minimum_required(VERSION 3.0.2) +project(clear_costmap_recovery) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + nav_core + pluginlib + roscpp + tf2_ros + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES clear_costmap_recovery + CATKIN_DEPENDS + costmap_2d + nav_core + pluginlib + roscpp + tf2_ros +) + +add_library(clear_costmap_recovery src/clear_costmap_recovery.cpp) +add_dependencies(clear_costmap_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(clear_costmap_recovery ${catkin_LIBRARIES}) + + +## Configure Tests +if(CATKIN_ENABLE_TESTING) + # Find package test dependencies + find_package(rostest REQUIRED) + + # Add the test folder to the include directories + include_directories(test) + + # Create targets for test executables + add_rostest_gtest(clear_tester test/clear_tests.launch test/clear_tester.cpp) + target_link_libraries(clear_tester clear_costmap_recovery ${GTEST_LIBRARIES}) +endif() + + +install(TARGETS clear_costmap_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES ccr_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/src/navigation/clear_costmap_recovery/ccr_plugin.xml b/src/navigation/clear_costmap_recovery/ccr_plugin.xml new file mode 100644 index 0000000..93f2af2 --- /dev/null +++ b/src/navigation/clear_costmap_recovery/ccr_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that reverts the costmap to the static map outside of a user specified window. + + + diff --git a/src/navigation/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h b/src/navigation/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h new file mode 100644 index 0000000..c7be30a --- /dev/null +++ b/src/navigation/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h @@ -0,0 +1,88 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef CLEAR_COSTMAP_RECOVERY_H_ +#define CLEAR_COSTMAP_RECOVERY_H_ +#include +#include +#include +#include + +namespace clear_costmap_recovery{ + /** + * @class ClearCostmapRecovery + * @brief A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region. + */ + class ClearCostmapRecovery : public nav_core::RecoveryBehavior { + public: + /** + * @brief Constructor, make sure to call initialize in addition to actually initialize the object + * @param + * @return + */ + ClearCostmapRecovery(); + + /** + * @brief Initialization function for the ClearCostmapRecovery recovery behavior + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap); + + /** + * @brief Run the ClearCostmapRecovery recovery behavior. Reverts the + * costmap to the static map outside of a user-specified window and + * clears unknown space around the robot. + */ + void runBehavior(); + + private: + void clear(costmap_2d::Costmap2DROS* costmap); + void clearMap(boost::shared_ptr costmap, double pose_x, double pose_y); + costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_; + std::string name_; + tf2_ros::Buffer* tf_; + bool initialized_; + bool force_updating_; ///< force costmap update after clearing, so we don't need to wait for update thread + double reset_distance_; + bool invert_area_to_clear_; + std::string affected_maps_; ///< clear only local, global or both costmaps + std::set clearable_layers_; ///< Layer names which will be cleared. + }; +}; +#endif diff --git a/src/navigation/clear_costmap_recovery/package.xml b/src/navigation/clear_costmap_recovery/package.xml new file mode 100644 index 0000000..2d62f98 --- /dev/null +++ b/src/navigation/clear_costmap_recovery/package.xml @@ -0,0 +1,37 @@ + + + + clear_costmap_recovery + 1.17.2 + + + This package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/clear_costmap_recovery + + catkin + + cmake_modules + + costmap_2d + eigen + nav_core + pluginlib + roscpp + tf2_ros + + rostest + + + + + + + diff --git a/src/navigation/clear_costmap_recovery/src/clear_costmap_recovery.cpp b/src/navigation/clear_costmap_recovery/src/clear_costmap_recovery.cpp new file mode 100644 index 0000000..c2457f5 --- /dev/null +++ b/src/navigation/clear_costmap_recovery/src/clear_costmap_recovery.cpp @@ -0,0 +1,189 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include + +//register this planner as a RecoveryBehavior plugin +PLUGINLIB_EXPORT_CLASS(clear_costmap_recovery::ClearCostmapRecovery, nav_core::RecoveryBehavior) + +using costmap_2d::NO_INFORMATION; + +namespace clear_costmap_recovery { +ClearCostmapRecovery::ClearCostmapRecovery(): global_costmap_(NULL), local_costmap_(NULL), + tf_(NULL), initialized_(false) {} + +void ClearCostmapRecovery::initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap){ + if(!initialized_){ + name_ = name; + tf_ = tf; + global_costmap_ = global_costmap; + local_costmap_ = local_costmap; + + //get some parameters from the parameter server + ros::NodeHandle private_nh("~/" + name_); + + private_nh.param("reset_distance", reset_distance_, 3.0); + private_nh.param("invert_area_to_clear", invert_area_to_clear_, false); + private_nh.param("force_updating", force_updating_, false); + private_nh.param("affected_maps", affected_maps_, std::string("both")); + if (affected_maps_ != "local" && affected_maps_ != "global" && affected_maps_ != "both") + { + ROS_WARN("Wrong value for affected_maps parameter: '%s'; valid values are 'local', 'global' or 'both'; " \ + "defaulting to 'both'", affected_maps_.c_str()); + affected_maps_ = "both"; + } + + std::vector clearable_layers_default, clearable_layers; + clearable_layers_default.push_back( std::string("obstacles") ); + private_nh.param("layer_names", clearable_layers, clearable_layers_default); + + for(unsigned i=0; i < clearable_layers.size(); i++) { + ROS_INFO("Recovery behavior will clear layer '%s'", clearable_layers[i].c_str()); + clearable_layers_.insert(clearable_layers[i]); + } + + initialized_ = true; + } + else{ + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +void ClearCostmapRecovery::runBehavior(){ + if(!initialized_){ + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + if(global_costmap_ == NULL || local_costmap_ == NULL){ + ROS_ERROR("The costmaps passed to the ClearCostmapRecovery object cannot be NULL. Doing nothing."); + return; + } + + if (!invert_area_to_clear_){ + ROS_WARN("Clearing %s costmap%s outside a square (%.2fm) large centered on the robot.", affected_maps_.c_str(), + affected_maps_ == "both" ? "s" : "", reset_distance_); + }else { + ROS_WARN("Clearing %s costmap%s inside a square (%.2fm) large centered on the robot.", affected_maps_.c_str(), + affected_maps_ == "both" ? "s" : "", reset_distance_); + } + + ros::WallTime t0 = ros::WallTime::now(); + if (affected_maps_ == "global" || affected_maps_ == "both") + { + clear(global_costmap_); + + if (force_updating_) + global_costmap_->updateMap(); + + ROS_DEBUG("Global costmap cleared in %fs", (ros::WallTime::now() - t0).toSec()); + } + + t0 = ros::WallTime::now(); + if (affected_maps_ == "local" || affected_maps_ == "both") + { + clear(local_costmap_); + + if (force_updating_) + local_costmap_->updateMap(); + + ROS_DEBUG("Local costmap cleared in %fs", (ros::WallTime::now() - t0).toSec()); + } +} + +void ClearCostmapRecovery::clear(costmap_2d::Costmap2DROS* costmap){ + std::vector >* plugins = costmap->getLayeredCostmap()->getPlugins(); + + geometry_msgs::PoseStamped pose; + + if(!costmap->getRobotPose(pose)){ + ROS_ERROR("Cannot clear map because pose cannot be retrieved"); + return; + } + + double x = pose.pose.position.x; + double y = pose.pose.position.y; + + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + std::string name = plugin->getName(); + int slash = name.rfind('/'); + if( slash != std::string::npos ){ + name = name.substr(slash+1); + } + + if(clearable_layers_.count(name)!=0){ + + // check if the value is convertable + if(!dynamic_cast(plugin.get())){ + ROS_ERROR_STREAM("Layer " << name << " is not derived from costmap_2d::CostmapLayer"); + continue; + } + + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + clearMap(costmap, x, y); + } + } +} + + +void ClearCostmapRecovery::clearMap(boost::shared_ptr costmap, + double pose_x, double pose_y){ + boost::unique_lock lock(*(costmap->getMutex())); + + double start_point_x = pose_x - reset_distance_ / 2; + double start_point_y = pose_y - reset_distance_ / 2; + double end_point_x = start_point_x + reset_distance_; + double end_point_y = start_point_y + reset_distance_; + + int start_x, start_y, end_x, end_y; + costmap->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y); + costmap->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y); + + costmap->clearArea(start_x, start_y, end_x, end_y, invert_area_to_clear_); + + double ox = costmap->getOriginX(), oy = costmap->getOriginY(); + double width = costmap->getSizeInMetersX(), height = costmap->getSizeInMetersY(); + costmap->addExtraBounds(ox, oy, ox + width, oy + height); + return; +} + +}; diff --git a/src/navigation/clear_costmap_recovery/test/clear_tester.cpp b/src/navigation/clear_costmap_recovery/test/clear_tester.cpp new file mode 100644 index 0000000..4e89dbf --- /dev/null +++ b/src/navigation/clear_costmap_recovery/test/clear_tester.cpp @@ -0,0 +1,95 @@ +#include +#include +#include + +#include +#include + +tf2_ros::Buffer* transformer; +tf2_ros::TransformListener* tfl; + +using costmap_2d::LETHAL_OBSTACLE; + +void testClearBehavior(std::string name, + double distance, + bool obstacles, + bool static_map, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap){ + clear_costmap_recovery::ClearCostmapRecovery clear = clear_costmap_recovery::ClearCostmapRecovery(); + + ros::NodeHandle clr("~/" + name); + clr.setParam("reset_distance", distance); + + std::vector clearable_layers; + if(obstacles) + clearable_layers.push_back( std::string("obstacles") ); + if(static_map) + clearable_layers.push_back( std::string("static_map") ); + + clr.setParam("layer_names", clearable_layers); + + clear.initialize(name, transformer, global_costmap, local_costmap); + + clear.runBehavior(); +} + +void testCountLethal(std::string name, double distance, bool obstacles, bool static_map, int global_lethal, int local_lethal=0) +{ + costmap_2d::Costmap2DROS global(name + "/global", *transformer); + costmap_2d::Costmap2DROS local(name + "/local" , *transformer); + boost::shared_ptr olayer; + + std::vector >* plugins = global.getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + olayer = boost::static_pointer_cast(plugin); + addObservation(&(*olayer), 5.0, 0.0, MAX_Z/2, 0, 0, MAX_Z/2); + addObservation(&(*olayer), 0.0, 5.0, MAX_Z/2, 0, 0, MAX_Z/2); + } + } + + global.updateMap(); + local.updateMap(); + olayer->clearStaticObservations(true, true); + + testClearBehavior("clear", distance, obstacles, static_map, &global, &local); + + global.updateMap(); + local.updateMap(); + + printMap(*global.getCostmap()); + ASSERT_EQ(countValues(*global.getCostmap(), LETHAL_OBSTACLE), global_lethal); + ASSERT_EQ(countValues( *local.getCostmap(), LETHAL_OBSTACLE), local_lethal); + +} + +TEST(ClearTester, basicTest){ + testCountLethal("base", 3.0, true, false, 20); +} + +TEST(ClearTester, bigRadiusTest){ + testCountLethal("base", 20.0, true, false, 22); +} + +TEST(ClearTester, clearNoLayersTest){ + testCountLethal("base", 20.0, false, false, 22); +} + +TEST(ClearTester, clearBothTest){ + testCountLethal("base", 3.0, true, true, 0); +} + +TEST(ClearTester, clearBothTest2){ + testCountLethal("base", 12.0, true, true, 6); +} + + +int main(int argc, char** argv){ + ros::init(argc, argv, "clear_tests"); + testing::InitGoogleTest(&argc, argv); + transformer = new tf2_ros::Buffer(ros::Duration(10)); + tfl = new tf2_ros::TransformListener(*transformer); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/clear_costmap_recovery/test/clear_tests.launch b/src/navigation/clear_costmap_recovery/test/clear_tests.launch new file mode 100644 index 0000000..acebad2 --- /dev/null +++ b/src/navigation/clear_costmap_recovery/test/clear_tests.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/navigation/clear_costmap_recovery/test/params.yaml b/src/navigation/clear_costmap_recovery/test/params.yaml new file mode 100644 index 0000000..7ebca4e --- /dev/null +++ b/src/navigation/clear_costmap_recovery/test/params.yaml @@ -0,0 +1,13 @@ +base: + global: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation, type: "costmap_2d::InflationLayer"} + obstacles: + track_unknown_space: true + local: + plugins: [] + robot_radius: .5 +clear: + clearing_distance: 7.0 diff --git a/src/navigation/costmap_2d/CHANGELOG.rst b/src/navigation/costmap_2d/CHANGELOG.rst new file mode 100644 index 0000000..864de8c --- /dev/null +++ b/src/navigation/costmap_2d/CHANGELOG.rst @@ -0,0 +1,334 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package costmap_2d +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Removed unused variables in costmap_2d_ros (`#1126 `_) + remove unused `robot_stopped\_`, `old_pose\_` and `timer\_` +* Check if stamp of transformed pose is non-zero (`#1200 `_) +* fix crashes in AMCL (`#1152 `_) + * fix: catch runtime_error from roscore + * ignore malformed message from laser, otherwise it will crash +* The main function has to return an int value. (`#1101 `_) +* fix boundary point exclusion in convexFillCells (`#1095 `_) +* Fix deadlock when starting map with map-update-frequency set to zero (`#1072 `_) + Co-authored-by: Dima Dorezyuk +* Increase scope of costmap mutex in publishCostmap to cover costmap calls (`#992 `_) +* costmap_2d: remove useless and buggy testing helper function (`#1069 `_) (`#1070 `_) + Co-authored-by: JF Dalbosco +* Fix future robot pose by Costmap2D (`#1066 `_) + Co-authored-by: Pavlo Kolomiiets +* use const-ref-getter for strings and vectors (`#1035 `_) + Co-authored-by: Dima Dorezyuk +* move enabled-logic to the LayeredCostmap (`#1036 `_) + Co-authored-by: Dima Dorezyuk +* cosmetic change (`#1055 `_) +* costmap_2d: Add missing package dependency to Eigen (`#1033 `_) +* Add invert_area_to_clear to clear costmap recovery behavior (`#1030 `_) +* Contributors: Atsushi Watanabe, ChristofDubs, Dhruv Maroo, Dima Dorezyuk, G.Doisy, Griswald Brooks, Noriaki Ando, Pavlo Kolomiiets, Yuki Furuta, Yukihiro Saito, easylyou, jdalbosc + +1.17.1 (2020-08-27) +------------------- +* add explicit call to ros::Timer::stop in the destructor (`#984 `_) + Co-authored-by: Dima Dorezyuk +* Exposing stopped\_ variable in costmap2D_ros with the getter function isStopped (`#913 `_) +* use const for getter methods (`#948 `_) +* Contributors: Dima Dorezyuk, Marco Bassa, Yuki Furuta + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* fix invalid memory access +* attempt to get test to run +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* fix published footprint topic name (`#947 `_) + The default name of the topic will be updated in noetic +* fix usage of size_locked, fixes `#959 `_ (`#966 `_) +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Merge pull request `#957 `_ from Blindnology/melodic-updateOrigin + Optimize costmap_2d::updateOrigin +* Optimize costmap_2d::updateOrigin +* Contributors: Michael Ferguson, Pavlo Kolomiiets, Sean Yen, Yuki Furuta + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#877 `_ from SteveMacenski/layer_clear_area-melodic + [melodic] moving clearing area method to costmap_layer so other applications can clear other types. +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Drop Parameter Magic (`#893 `_) +* Fixes `#782 `_ (`#892 `_) +* Costmap_2d plugin universal parameters and pre-hydro warnings (`#738 `_) + * Comment and description clarification + * Renamed resetOldParameters to loadOldParameters + * Upscaled pre-hydro parameter info message to warning and added costmap-name + * Warn user when static_map or map_type is set but not used while plugins are used + * Added function that copies parent parameters inside each layer (makes it possible to set a global inflation_radius) + * use parameter magic +* Changed logic for when to resize layered costmap in static layer (`#792 `_) + * Changed logic for when to resize layered costmap in static layer + -Now the master layered costmap should no longer get resized when + isSizeLocked returns true + * Fixing format for if loop +* clear area in layer for melodic +* [kinetic] Fix Bounds Bug (plus test) (`#871 `_) (`#875 `_) + * fix map bounds bug + * Add test +* Fix install (`#855 `_) +* Add additional linked libraries (`#803 `_) +* Contributors: David V. Lu!!, Martin Ganeff, Michael Ferguson, Steven Macenski, stevemacenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* update costmap_2d cmake + * explicit dependency on tf2 + * remove old PCL disable crap +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- +* Merge pull request `#770 `_ from ros-planning/fix_debians + Fix debian builds (closes `#769 `_) +* add tf2_geometry_msgs depend to costmap_2d +* Contributors: Michael Ferguson + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* unify combination_method dynamic reconfig, closes `#402 `_ +* Merge pull request `#723 `_ from moriarty/melodic-buildfarm-errors + Melodic buildfarm errors +* [costmap_2d/test] set empty transform to Identity +* fix test: abs(unsigned int) is ambiguous + Instead, compare values and subtract smaller from larger to find + the dx and dy. +* fixes pluginlib deprecated header warnings +* Merge pull request `#694 `_ from ros-planning/lunar_691 + costmap variable init & cleanup (forward port of `#691 `_) +* remove unused got_footprint\_ +* initialize all costmap variables +* Merge pull request `#686 `_ from ros-planning/lunar_675 + Fixed race condition with costmaps in LayeredCostmap::resizeMap() +* Fixed race condition with costmaps in LayeredCostmap::resizeMap() + LayeredCostmap::updateMap() and LayeredCostmap::resizeMap() write to the master grid costmap. + And these two functions can be called by different threads at the same time. + One example of these cases is a race condition between subscriber callback thread + dealing with dynamically-size-changing static_layer and periodical updateMap() calls from Costmap2DROS thread. + Under the situation the master grid costmap is not thread-safe. + LayeredCostmap::updateMap() already used the master grid costmap's lock. +* Contributors: Alexander Moriarty, David V. Lu, Jaeyoung Lee, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#670 `_ from DLu/fix206_lunar + Fixes `#206 `_ for Lunar +* fix 'enable' for static_layer with rolling window (`#659 `_) (`#665 `_) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, David V. Lu!!, Jannik Abbenseth, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* Added parameter for allowing inflation in unknown cells (`#564 `_) +* Inflation Layer protected members and virtual computeCost [ABI BREAKING] +* Fix for `#517 `_: create a getRobotPose method on move_base instead of using that on the costmaps +* don't update costs if inflation radius is zero +* rebase fixups +* convert packages to format2 +* Speedup (~60%) inflation layer update (`#525 `_) +* Fix CMakeLists + package.xmls (`#548 `_) +* add missing deps on libpcl +* import only PCL common +* pcl proagate -lQt5::Widgets flag so we need to find_package Qt5Widgets (`#578 `_) +* Added deps to amcl costmap_2d move_base (`#512 `_) +* remove GCC warnings +* Fix CMake warnings +* renamed targets for message generation (gencpp -> generate_messages_cpp) in order to avoid warnings for non-existing target dependencies +* Fixed race condition with costmaps +* Merge pull request `#491 `_ from alexhenning/kinetic-inflation-fix +* Fixed sign error in inflation layer +* Adds warning when a layer shrinks the bounds +* Fixed bug with inflation layer that caused underinflation +* Fixed bug with artifacts when not current +* Fix bug with inflation artifacts being left behind +* Fixes issue with costmaps shearing +* Made costmap publishing truly lazy +* Contributors: Alex Henning, Alexander Reimann, Hidde Wieringa, Jorge Santos, Jorge Santos Simón, Martin Günther, Michael Ferguson, Mikael Arguedas, Stephan Opfer, Vincent Rabaud, mryellow + +1.14.0 (2016-05-20) +------------------- +* Reordered initializer list to match order of declarations. + This avoids compiler warning with some compilers. +* Made update map threadsafe + This is necessary for some plugins (e.g. VoxelLayer) that implement a + thread unsafe updateBounds() function. +* Fix bug with resetting static layer + If we don't have a new topic, consider our old data as if it were new. +* fix resource locations to fix tests +* Increase time-limit on failing test +* Merge pull request `#388 `_ from yujinrobot/jade_inflation_ghost_fix + No more ghosts in the inflation layer +* Fixes the dynamic reconfigure segfault + Doing a dynamic reconfigure of the inflation radius recreates + the cached cost values without first locking a mutex, which causes + a segfault. This breaks the reconfigure of inflation parameters into + a separate function and adds a mutex lock. +* Merge pull request `#415 `_ from alexhenning/jade-fix-multiple-static-layers + Fixes an issue with having multiple static layers +* Fixes an issue with having multiple static layers + If you have a static layer in both the local and global costmaps that + use the same map topic, there is a race condition that can cause the + static layer to get stuck after printing `Requesting map....`. This race + condition seems to be due to the call to shutdown in deactivate and how + the NodeHandle handles multiple subscribers under the hood. + This issue appears to happen about 1 in 1000 times in the setup I was + testing. This fix has never failed in over 1000000 tests. Instead of + calling activate and deactivate, the publisher is only recreated if the + topic has changed. Otherwise, it reuses the old setup. +* fix related to issue `#408 `_ - With Rolling Window on, costmap_2d not properly updating bounds and costs in the static layer +* No more ghosts in the inflation layer + Previous bounds would fit the sensor measurements, and the inflation layer would clear + out to these, but leave 'ghosts' behind. These ghosts are from two sources - 1) the + inflation radius and 2) whole obstacles left behind as the robot has moved from the last point. + The modifications here remember the last bounds and set the new bounds so that a box at least + large enough to incorporate the old bounds plus the inflation radius is generated. +* Contributors: Alex Henning, Daniel Stonier, Levon Avagyan, Michael Ferguson, palmieri + +1.13.1 (2015-10-29) +------------------- +* Remove excessive canTransform spam. +* Fix for `#382 `_ +* Republish costmap if origin changes +* Remove Footprint Layer +* Remove extra sign definition and use proper one when padding footprint +* fix plugin warnings on throw, closes `#205 `_ +* initialize publisher variables +* Look for robot_radius when footprint is not set. `#206 `_ +* Add a first_map_only parameter so we keep reusing the first received static map +* Merge pull request `#331 `_ from mikeferguson/static_layer_any_frame +* support rolling static map in any frame +* fix destructor of Costmap2D +* proper locking during costmap update +* do not resize static map when rolling +* Static layer works with rolling window now +* Contributors: Daniel Stonier, David Lu, Jihoon Lee, Michael Ferguson, Rein Appeldoorn, commaster90 + +1.13.0 (2015-03-17) +------------------- +* fixed issue with voxel_layer and obstacle_layer both deleting the same dynamic_reconfigure::Server and causing segfaults +* Fixing various memory freeing operations +* static_layer: Fix indexing error in OccupancyGridUpdate callback function. +* Contributors: Alex Bencz, David V. Lu!!, James Servos, Julse, Kaijen Hsiao + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- +* added waitForTransform to bufferCloud to solve extrapolation into the future exception +* deallocate costmap_ before reallocating +* prevent div by zero in raytraceLine +* only prefix sensor_frame when it's not empty +* tf_prefix support in obstacle_layer +* remove undefined function updateUsingPlugins +* remove unused cell_data.h +* numerous style fixes +* Contributors: Andrzej Pronobis, David Lu, Jeremie Deray, Mani Monajjemi, Michael Ferguson, enriquefernandez + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* costmap_2d: export library layers +* Merge pull request `#198 `_ from kmhallen/hydro-devel + Fixed costmap_2d clearing from service /move_base/clear_costmaps +* Costmap Layer comments +* Add destructors for all of the layers to remove the dynamic parameter clients +* Add method for removing static observations (for testing) +* Move testing_helper +* Initial Clearing Costmap parameter change +* Fixed costmap_2d clearing from service /move_base/clear_costmaps +* Contributors: David Lu!!, Kevin Hallenbeck, Michael Ferguson + +1.11.11 (2014-07-23) +-------------------- +* removes trailing spaces and empty lines +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* Remove unused robot_radius parameter from dynamic_reconfigure +* Contributors: Daniel Stonier, David Lu!! + +1.11.9 (2014-06-10) +------------------- +* fix hypot issues, add comments to tests from tracking this down +* dynamically reconfigure the previously uninitialised variable 'combination_method', closes `#187 `_. +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Daniel Stonier, Michael Ferguson, Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* uses %u instead of %d for unsigned int +* update build to find eigen using cmake_modules +* inflation_layer: place .top() & .pop() calls together +* add parameter to configure whether full costmap is published each time +* Contributors: Michael Ferguson, Siegfried-A. Gevatter Pujals, agentx3r, enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Better threading in inflation layer +* don't set initialized until updateMap is called +* check whether costmap is initalized before publishing +* New Overwrite Methods + updateMap method + Fix for `#68 `_ + Fix for inflation memory problems + InfIsValid `#128 `_ + Static layer can recieve updates and accept non-lethal values + Obstacle layer uses track_unknown_space parameter + Footprint layer is not longer created as top-level layer (used as part of obstacle layer instead) +* Download test data from download.ros.org instead of willow +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Improve bounds checking +* Reimplement Clear Costmaps Service by implementing reset functions in each layer +* Package URL Updates +* Additional static layer functionality for receiving updates +* Misc. Pointcloud fixes +* Improved eigen alignment problem on 32-bit arch. +* fixed costmap_2d tests diff --git a/src/navigation/costmap_2d/CMakeLists.txt b/src/navigation/costmap_2d/CMakeLists.txt new file mode 100644 index 0000000..39ec336 --- /dev/null +++ b/src/navigation/costmap_2d/CMakeLists.txt @@ -0,0 +1,217 @@ +cmake_minimum_required(VERSION 3.0.2) +project(costmap_2d) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + dynamic_reconfigure + geometry_msgs + laser_geometry + map_msgs + message_filters + message_generation + nav_msgs + pluginlib + roscpp + sensor_msgs + std_msgs + tf2 + tf2_geometry_msgs + tf2_ros + tf2_sensor_msgs + visualization_msgs + voxel_grid + ) + +find_package(Eigen3 REQUIRED) +find_package(Boost REQUIRED COMPONENTS system thread) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_definitions(${EIGEN3_DEFINITIONS}) + +# messages +add_message_files( + DIRECTORY msg + FILES + VoxelGrid.msg +) + +generate_messages( + DEPENDENCIES + std_msgs + geometry_msgs + map_msgs +) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/Costmap2D.cfg + cfg/ObstaclePlugin.cfg + cfg/GenericPlugin.cfg + cfg/InflationPlugin.cfg + cfg/VoxelPlugin.cfg +) + +catkin_package( + INCLUDE_DIRS + include + ${EIGEN3_INCLUDE_DIRS} + LIBRARIES costmap_2d layers + CATKIN_DEPENDS + dynamic_reconfigure + geometry_msgs + laser_geometry + map_msgs + message_filters + message_runtime + nav_msgs + pluginlib + roscpp + sensor_msgs + std_msgs + tf2_ros + visualization_msgs + voxel_grid + DEPENDS + EIGEN3 + Boost +) + +add_library(costmap_2d + src/array_parser.cpp + src/costmap_2d.cpp + src/observation_buffer.cpp + src/layer.cpp + src/layered_costmap.cpp + src/costmap_2d_ros.cpp + src/costmap_2d_publisher.cpp + src/costmap_math.cpp + src/footprint.cpp + src/costmap_layer.cpp +) +add_dependencies(costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(costmap_2d + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_library(layers + plugins/inflation_layer.cpp + plugins/obstacle_layer.cpp + plugins/static_layer.cpp + plugins/voxel_layer.cpp + src/observation_buffer.cpp +) +add_dependencies(layers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(layers + costmap_2d +) + +add_executable(costmap_2d_markers src/costmap_2d_markers.cpp) +add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(costmap_2d_markers + costmap_2d + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp) +add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(costmap_2d_cloud + costmap_2d + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_executable(costmap_2d_node src/costmap_2d_node.cpp) +add_dependencies(costmap_2d_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(costmap_2d_node + costmap_2d + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +## Configure Tests +if(CATKIN_ENABLE_TESTING) + # Find package test dependencies + find_package(rostest REQUIRED) + + # Add the test folder to the include directories + include_directories(test) + + # Create targets for test executables + add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp) + add_dependencies(tests costmap_tester) + target_link_libraries(costmap_tester costmap_2d ${GTEST_LIBRARIES}) + + add_executable(footprint_tests EXCLUDE_FROM_ALL test/footprint_tests.cpp) + add_dependencies(tests footprint_tests) + target_link_libraries(footprint_tests costmap_2d ${GTEST_LIBRARIES}) + + add_executable(obstacle_tests EXCLUDE_FROM_ALL test/obstacle_tests.cpp) + add_dependencies(tests obstacle_tests) + target_link_libraries(obstacle_tests costmap_2d layers ${GTEST_LIBRARIES}) + + add_executable(static_tests EXCLUDE_FROM_ALL test/static_tests.cpp) + add_dependencies(tests static_tests) + target_link_libraries(static_tests costmap_2d layers ${GTEST_LIBRARIES}) + + add_executable(inflation_tests EXCLUDE_FROM_ALL test/inflation_tests.cpp) + add_dependencies(tests inflation_tests) + target_link_libraries(inflation_tests costmap_2d layers ${GTEST_LIBRARIES}) + + catkin_download_test_data(${PROJECT_NAME}_simple_driving_test_indexed.bag + http://download.ros.org/data/costmap_2d/simple_driving_test_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 61168cff9425b11e093ea3a627c81c8d) + catkin_download_test_data(${PROJECT_NAME}_willow-full-0.025.pgm + http://download.ros.org/data/costmap_2d/willow-full-0.025.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 e66b17ee374f2d7657972efcb3e2e4f7) + + add_rostest(test/footprint_tests.launch) + add_rostest(test/inflation_tests.launch) + add_rostest(test/obstacle_tests.launch) + add_rostest(test/simple_driving_test.xml) + add_rostest(test/static_tests.launch) + + catkin_add_gtest(array_parser_test test/array_parser_test.cpp) + target_link_libraries(array_parser_test costmap_2d) + + catkin_add_gtest(coordinates_test test/coordinates_test.cpp) + target_link_libraries(coordinates_test costmap_2d) +endif() + +install( TARGETS + costmap_2d_markers + costmap_2d_cloud + costmap_2d_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(TARGETS + costmap_2d + layers + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(FILES costmap_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(FILES test/TenByTen.yaml test/TenByTen.pgm + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test +) + + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/src/navigation/costmap_2d/cfg/Costmap2D.cfg b/src/navigation/costmap_2d/cfg/Costmap2D.cfg new file mode 100755 index 0000000..cb57251 --- /dev/null +++ b/src/navigation/costmap_2d/cfg/Costmap2D.cfg @@ -0,0 +1,23 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, str_t + +gen = ParameterGenerator() + +gen.add("transform_tolerance", double_t, 0, "Specifies the delay in transform (tf) data that is tolerable in seconds.", 0.3, 0, 10) +gen.add("update_frequency", double_t, 0, "The frequency in Hz for the map to be updated.", 5, 0, 100) +gen.add("publish_frequency", double_t, 0, "The frequency in Hz for the map to publish display information.", 0, 0, 100) + +#map params +gen.add("width", int_t, 0, "The width of the map in meters.", 10, 0) +gen.add("height", int_t, 0, "The height of the map in meters.", 10, 0) +gen.add("resolution", double_t, 0, "The resolution of the map in meters/cell.", 0.05, 0, 50) +gen.add("origin_x", double_t, 0, "The x origin of the map in the global frame in meters.", 0) +gen.add("origin_y", double_t, 0, "The y origin of the map in the global frame in meters.", 0) + +# robot footprint shape +gen.add("footprint", str_t, 0, "The footprint of the robot specified in the robot_base_frame coordinate frame as a list in the format: [ [x1, y1], [x2, y2], ...., [xn, yn] ].", "[]") +gen.add("robot_radius", double_t, 0, 'The radius of the robot in meters, this parameter should only be set for circular robots, all others should use the footprint parameter described above.', 0.46, 0, 10) +gen.add("footprint_padding", double_t, 0, "How much to pad (increase the size of) the footprint, in meters.", 0.01) + +exit(gen.generate("costmap_2d", "costmap_2d", "Costmap2D")) diff --git a/src/navigation/costmap_2d/cfg/GenericPlugin.cfg b/src/navigation/costmap_2d/cfg/GenericPlugin.cfg new file mode 100755 index 0000000..11cd4d1 --- /dev/null +++ b/src/navigation/costmap_2d/cfg/GenericPlugin.cfg @@ -0,0 +1,7 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t + +gen = ParameterGenerator() +gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True) +exit(gen.generate("costmap_2d", "costmap_2d", "GenericPlugin")) diff --git a/src/navigation/costmap_2d/cfg/InflationPlugin.cfg b/src/navigation/costmap_2d/cfg/InflationPlugin.cfg new file mode 100755 index 0000000..c151525 --- /dev/null +++ b/src/navigation/costmap_2d/cfg/InflationPlugin.cfg @@ -0,0 +1,12 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t + +gen = ParameterGenerator() + +gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True) +gen.add("cost_scaling_factor", double_t, 0, "A scaling factor to apply to cost values during inflation.", 10, 0, 100) +gen.add("inflation_radius", double_t, 0, "The radius in meters to which the map inflates obstacle cost values.", 0.55, 0, 50) +gen.add("inflate_unknown", bool_t, 0, "Whether to inflate unknown cells.", False) + +exit(gen.generate("costmap_2d", "costmap_2d", "InflationPlugin")) diff --git a/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg b/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg new file mode 100755 index 0000000..7b434a8 --- /dev/null +++ b/src/navigation/costmap_2d/cfg/ObstaclePlugin.cfg @@ -0,0 +1,20 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t, int_t + +gen = ParameterGenerator() + +gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True) +gen.add("footprint_clearing_enabled", bool_t, 0, "Whether to clear the robot's footprint of lethal obstacles", True) +gen.add("max_obstacle_height", double_t, 0, "The maximum height of any obstacle to be inserted into the costmap in meters.", 2, 0, 50) + +combo_enum = gen.enum([gen.const("Overwrite", int_t, 0, "Overwrite values"), + gen.const("Maximum", int_t, 1, "Take the maximum of the values"), + gen.const("Nothing", int_t, 99, "Do nothing")], + "Method for combining layers enum") +gen.add("combination_method", int_t, 0, "Method for combining two layers", 1, edit_method=combo_enum) + + +#gen.add("max_obstacle_range", double_t, 0, "The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters.", 2.5, 0, 50) +#gen.add("raytrace_range", double_t, 0, "The default range in meters at which to raytrace out obstacles from the map using sensor data.", 3, 0, 50) +exit(gen.generate("costmap_2d", "costmap_2d", "ObstaclePlugin")) diff --git a/src/navigation/costmap_2d/cfg/VoxelPlugin.cfg b/src/navigation/costmap_2d/cfg/VoxelPlugin.cfg new file mode 100755 index 0000000..ec621c5 --- /dev/null +++ b/src/navigation/costmap_2d/cfg/VoxelPlugin.cfg @@ -0,0 +1,22 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t, int_t + +gen = ParameterGenerator() + +gen.add("enabled", bool_t, 0, "Whether to use this plugin or not", True) +gen.add("footprint_clearing_enabled", bool_t, 0, "Whether to clear the robot's footprint of lethal obstacles", True) +gen.add("max_obstacle_height", double_t, 0, "Max Obstacle Height", 2.0, 0, 50) +gen.add("origin_z", double_t, 0, "The z origin of the map in meters.", 0, 0) +gen.add("z_resolution", double_t, 0, "The z resolution of the map in meters/cell.", 0.2, 0, 50) +gen.add("z_voxels", int_t, 0, "The number of voxels to in each vertical column.", 10, 0, 16) +gen.add("unknown_threshold", int_t, 0, 'The number of unknown cells allowed in a column considered to be known', 15, 0, 16) +gen.add("mark_threshold", int_t, 0, 'The maximum number of marked cells allowed in a column considered to be free', 0, 0, 16) + +combo_enum = gen.enum([gen.const("Overwrite", int_t, 0, "Overwrite values"), + gen.const("Maximum", int_t, 1, "Take the maximum of the values"), + gen.const("Nothing", int_t, 99, "Do nothing")], + "Method for combining layers enum") +gen.add("combination_method", int_t, 0, "Method for combining two layers", 1, 0, 2, edit_method=combo_enum) + +exit(gen.generate("costmap_2d", "costmap_2d", "VoxelPlugin")) diff --git a/src/navigation/costmap_2d/costmap_plugins.xml b/src/navigation/costmap_2d/costmap_plugins.xml new file mode 100644 index 0000000..800f028 --- /dev/null +++ b/src/navigation/costmap_2d/costmap_plugins.xml @@ -0,0 +1,17 @@ + + + + Inflates obstacles to speed collision checking and to make robot prefer to stay away from obstacles. + + + Listens to laser scan and point cloud messages and marks and clears grid cells. + + + Listens to OccupancyGrid messages and copies them in, like from map_server. + + + Similar to obstacle costmap, but uses 3D voxel grid to store data. + + + + diff --git a/src/navigation/costmap_2d/include/costmap_2d/array_parser.h b/src/navigation/costmap_2d/include/costmap_2d/array_parser.h new file mode 100644 index 0000000..0275bde --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/array_parser.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * author: Dave Hershberger + */ +#ifndef COSTMAP_2D_ARRAY_PARSER_H +#define COSTMAP_2D_ARRAY_PARSER_H + +#include +#include + +namespace costmap_2d +{ + +/** @brief Parse a vector of vectors of floats from a string. + * @param error_return If no error, error_return is set to "". If + * error, error_return will describe the error. + * Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] + * + * On error, error_return is set and the return value could be + * anything, like part of a successful parse. */ +std::vector > parseVVF(const std::string& input, std::string& error_return); + +} // end namespace costmap_2d + +#endif // COSTMAP_2D_ARRAY_PARSER_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/cost_values.h b/src/navigation/costmap_2d/include/costmap_2d/cost_values.h new file mode 100644 index 0000000..7f042ff --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/cost_values.h @@ -0,0 +1,47 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ +#ifndef COSTMAP_2D_COST_VALUES_H_ +#define COSTMAP_2D_COST_VALUES_H_ +/** Provides a mapping for often used cost values */ +namespace costmap_2d +{ +static const unsigned char NO_INFORMATION = 255; +static const unsigned char LETHAL_OBSTACLE = 254; +static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253; +static const unsigned char FREE_SPACE = 0; +} +#endif // COSTMAP_2D_COST_VALUES_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/costmap_2d.h b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d.h new file mode 100644 index 0000000..38658e8 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d.h @@ -0,0 +1,469 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_COSTMAP_2D_H_ +#define COSTMAP_2D_COSTMAP_2D_H_ + +#include +#include +#include +#include + +namespace costmap_2d +{ + +// convenient for storing x/y point pairs +struct MapLocation +{ + unsigned int x; + unsigned int y; +}; + +/** + * @class Costmap2D + * @brief A 2D costmap provides a mapping between points in the world and their associated "costs". + */ +class Costmap2D +{ + friend class CostmapTester; // Need this for gtest to work correctly +public: + /** + * @brief Constructor for a costmap + * @param cells_size_x The x size of the map in cells + * @param cells_size_y The y size of the map in cells + * @param resolution The resolution of the map in meters/cell + * @param origin_x The x origin of the map + * @param origin_y The y origin of the map + * @param default_value Default Value + */ + Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution, + double origin_x, double origin_y, unsigned char default_value = 0); + + /** + * @brief Copy constructor for a costmap, creates a copy efficiently + * @param map The costmap to copy + */ + Costmap2D(const Costmap2D& map); + + /** + * @brief Overloaded assignment operator + * @param map The costmap to copy + * @return A reference to the map after the copy has finished + */ + Costmap2D& operator=(const Costmap2D& map); + + /** + * @brief Turn this costmap into a copy of a window of a costmap passed in + * @param map The costmap to copy + * @param win_origin_x The x origin (lower left corner) for the window to copy, in meters + * @param win_origin_y The y origin (lower left corner) for the window to copy, in meters + * @param win_size_x The x size of the window, in meters + * @param win_size_y The y size of the window, in meters + */ + bool copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x, + double win_size_y); + + /** + * @brief Default constructor + */ + Costmap2D(); + + /** + * @brief Destructor + */ + virtual ~Costmap2D(); + + /** + * @brief Get the cost of a cell in the costmap + * @param mx The x coordinate of the cell + * @param my The y coordinate of the cell + * @return The cost of the cell + */ + unsigned char getCost(unsigned int mx, unsigned int my) const; + + /** + * @brief Set the cost of a cell in the costmap + * @param mx The x coordinate of the cell + * @param my The y coordinate of the cell + * @param cost The cost to set the cell to + */ + void setCost(unsigned int mx, unsigned int my, unsigned char cost); + + /** + * @brief Convert from map coordinates to world coordinates + * @param mx The x map coordinate + * @param my The y map coordinate + * @param wx Will be set to the associated world x coordinate + * @param wy Will be set to the associated world y coordinate + */ + void mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const; + + /** + * @brief Convert from world coordinates to map coordinates + * @param wx The x world coordinate + * @param wy The y world coordinate + * @param mx Will be set to the associated map x coordinate + * @param my Will be set to the associated map y coordinate + * @return True if the conversion was successful (legal bounds) false otherwise + */ + bool worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const; + + /** + * @brief Convert from world coordinates to map coordinates without checking for legal bounds + * @param wx The x world coordinate + * @param wy The y world coordinate + * @param mx Will be set to the associated map x coordinate + * @param my Will be set to the associated map y coordinate + * @note The returned map coordinates are not guaranteed to lie within the map. + */ + void worldToMapNoBounds(double wx, double wy, int& mx, int& my) const; + + /** + * @brief Convert from world coordinates to map coordinates, constraining results to legal bounds. + * @param wx The x world coordinate + * @param wy The y world coordinate + * @param mx Will be set to the associated map x coordinate + * @param my Will be set to the associated map y coordinate + * @note The returned map coordinates are guaranteed to lie within the map. + */ + void worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const; + + /** + * @brief Given two map coordinates... compute the associated index + * @param mx The x coordinate + * @param my The y coordinate + * @return The associated index + */ + inline unsigned int getIndex(unsigned int mx, unsigned int my) const + { + return my * size_x_ + mx; + } + + /** + * @brief Given an index... compute the associated map coordinates + * @param index The index + * @param mx Will be set to the x coordinate + * @param my Will be set to the y coordinate + */ + inline void indexToCells(unsigned int index, unsigned int& mx, unsigned int& my) const + { + my = index / size_x_; + mx = index - (my * size_x_); + } + + /** + * @brief Will return a pointer to the underlying unsigned char array used as the costmap + * @return A pointer to the underlying unsigned char array storing cost values + */ + unsigned char* getCharMap() const; + + /** + * @brief Accessor for the x size of the costmap in cells + * @return The x size of the costmap + */ + unsigned int getSizeInCellsX() const; + + /** + * @brief Accessor for the y size of the costmap in cells + * @return The y size of the costmap + */ + unsigned int getSizeInCellsY() const; + + /** + * @brief Accessor for the x size of the costmap in meters + * @return The x size of the costmap (returns the centerpoint of the last legal cell in the map) + */ + double getSizeInMetersX() const; + + /** + * @brief Accessor for the y size of the costmap in meters + * @return The y size of the costmap (returns the centerpoint of the last legal cell in the map) + */ + double getSizeInMetersY() const; + + /** + * @brief Accessor for the x origin of the costmap + * @return The x origin of the costmap + */ + double getOriginX() const; + + /** + * @brief Accessor for the y origin of the costmap + * @return The y origin of the costmap + */ + double getOriginY() const; + + /** + * @brief Accessor for the resolution of the costmap + * @return The resolution of the costmap + */ + double getResolution() const; + + void setDefaultValue(unsigned char c) + { + default_value_ = c; + } + + unsigned char getDefaultValue() + { + return default_value_; + } + + /** + * @brief Sets the cost of a convex polygon to a desired value + * @param polygon The polygon to perform the operation on + * @param cost_value The value to set costs to + * @return True if the polygon was filled... false if it could not be filled + */ + bool setConvexPolygonCost(const std::vector& polygon, unsigned char cost_value); + + /** + * @brief Get the map cells that make up the outline of a polygon + * @param polygon The polygon in map coordinates to rasterize + * @param polygon_cells Will be set to the cells contained in the outline of the polygon + */ + void polygonOutlineCells(const std::vector& polygon, std::vector& polygon_cells); + + /** + * @brief Get the map cells that fill a convex polygon + * @param polygon The polygon in map coordinates to rasterize + * @param polygon_cells Will be set to the cells that fill the polygon + */ + void convexFillCells(const std::vector& polygon, std::vector& polygon_cells); + + /** + * @brief Move the origin of the costmap to a new location.... keeping data when it can + * @param new_origin_x The x coordinate of the new origin + * @param new_origin_y The y coordinate of the new origin + */ + virtual void updateOrigin(double new_origin_x, double new_origin_y); + + /** + * @brief Save the costmap out to a pgm file + * @param file_name The name of the file to save + */ + bool saveMap(std::string file_name); + + void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, + double origin_y); + + void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn); + + /** + * @brief Given distance in the world... convert it to cells + * @param world_dist The world distance + * @return The equivalent cell distance + */ + unsigned int cellDistance(double world_dist); + + // Provide a typedef to ease future code maintenance + typedef boost::recursive_mutex mutex_t; + mutex_t* getMutex() + { + return access_; + } + +protected: + /** + * @brief Copy a region of a source map into a destination map + * @param source_map The source map + * @param sm_lower_left_x The lower left x point of the source map to start the copy + * @param sm_lower_left_y The lower left y point of the source map to start the copy + * @param sm_size_x The x size of the source map + * @param dest_map The destination map + * @param dm_lower_left_x The lower left x point of the destination map to start the copy + * @param dm_lower_left_y The lower left y point of the destination map to start the copy + * @param dm_size_x The x size of the destination map + * @param region_size_x The x size of the region to copy + * @param region_size_y The y size of the region to copy + */ + template + void copyMapRegion(data_type* source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, + unsigned int sm_size_x, data_type* dest_map, unsigned int dm_lower_left_x, + unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, + unsigned int region_size_y) + { + // we'll first need to compute the starting points for each map + data_type* sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x); + data_type* dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x); + + // now, we'll copy the source map into the destination map + for (unsigned int i = 0; i < region_size_y; ++i) + { + memcpy(dm_index, sm_index, region_size_x * sizeof(data_type)); + sm_index += sm_size_x; + dm_index += dm_size_x; + } + } + + /** + * @brief Deletes the costmap, static_map, and markers data structures + */ + virtual void deleteMaps(); + + /** + * @brief Resets the costmap and static_map to be unknown space + */ + virtual void resetMaps(); + + /** + * @brief Initializes the costmap, static_map, and markers data structures + * @param size_x The x size to use for map initialization + * @param size_y The y size to use for map initialization + */ + virtual void initMaps(unsigned int size_x, unsigned int size_y); + + /** + * @brief Raytrace a line and apply some action at each step + * @param at The action to take... a functor + * @param x0 The starting x coordinate + * @param y0 The starting y coordinate + * @param x1 The ending x coordinate + * @param y1 The ending y coordinate + * @param max_length The maximum desired length of the segment... allows you to not go all the way to the endpoint + */ + template + inline void raytraceLine(ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, + unsigned int max_length = UINT_MAX) + { + int dx = x1 - x0; + int dy = y1 - y0; + + unsigned int abs_dx = abs(dx); + unsigned int abs_dy = abs(dy); + + int offset_dx = sign(dx); + int offset_dy = sign(dy) * size_x_; + + unsigned int offset = y0 * size_x_ + x0; + + // we need to chose how much to scale our dominant dimension, based on the maximum length of the line + double dist = hypot(dx, dy); + double scale = (dist == 0.0) ? 1.0 : std::min(1.0, max_length / dist); + + // if x is dominant + if (abs_dx >= abs_dy) + { + int error_y = abs_dx / 2; + bresenham2D(at, abs_dx, abs_dy, error_y, offset_dx, offset_dy, offset, (unsigned int)(scale * abs_dx)); + return; + } + + // otherwise y is dominant + int error_x = abs_dy / 2; + bresenham2D(at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy)); + } + +private: + /** + * @brief A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step + */ + template + inline void bresenham2D(ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, + int offset_b, unsigned int offset, unsigned int max_length) + { + unsigned int end = std::min(max_length, abs_da); + for (unsigned int i = 0; i < end; ++i) + { + at(offset); + offset += offset_a; + error_b += abs_db; + if ((unsigned int)error_b >= abs_da) + { + offset += offset_b; + error_b -= abs_da; + } + } + at(offset); + } + + inline int sign(int x) + { + return x > 0 ? 1.0 : -1.0; + } + + mutex_t* access_; +protected: + unsigned int size_x_; + unsigned int size_y_; + double resolution_; + double origin_x_; + double origin_y_; + unsigned char* costmap_; + unsigned char default_value_; + + class MarkCell + { + public: + MarkCell(unsigned char* costmap, unsigned char value) : + costmap_(costmap), value_(value) + { + } + inline void operator()(unsigned int offset) + { + costmap_[offset] = value_; + } + private: + unsigned char* costmap_; + unsigned char value_; + }; + + class PolygonOutlineCells + { + public: + PolygonOutlineCells(const Costmap2D& costmap, const unsigned char* char_map, std::vector& cells) : + costmap_(costmap), char_map_(char_map), cells_(cells) + { + } + + // just push the relevant cells back onto the list + inline void operator()(unsigned int offset) + { + MapLocation loc; + costmap_.indexToCells(offset, loc.x, loc.y); + cells_.push_back(loc); + } + + private: + const Costmap2D& costmap_; + const unsigned char* char_map_; + std::vector& cells_; + }; +}; +} // namespace costmap_2d + +#endif // COSTMAP_2D_COSTMAP_2D_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_publisher.h b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_publisher.h new file mode 100644 index 0000000..b9f465a --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_publisher.h @@ -0,0 +1,108 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_ +#define COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_ +#include +#include +#include +#include + +namespace costmap_2d +{ +/** + * @class Costmap2DPublisher + * @brief A tool to periodically publish visualization data from a Costmap2D + */ +class Costmap2DPublisher +{ +public: + /** + * @brief Constructor for the Costmap2DPublisher + */ + Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* costmap, std::string global_frame, + std::string topic_name, bool always_send_full_costmap = false); + + /** + * @brief Destructor + */ + ~Costmap2DPublisher(); + + /** @brief Include the given bounds in the changed-rectangle. */ + void updateBounds(unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn) + { + x0_ = std::min(x0, x0_); + xn_ = std::max(xn, xn_); + y0_ = std::min(y0, y0_); + yn_ = std::max(yn, yn_); + } + + /** + * @brief Publishes the visualization data over ROS + */ + void publishCostmap(); + + /** + * @brief Check if the publisher is active + * @return True if the frequency for the publisher is non-zero, false otherwise + */ + bool active() + { + return active_; + } + +private: + /** @brief Prepare grid_ message for publication. */ + void prepareGrid(); + + /** @brief Publish the latest full costmap to the new subscriber. */ + void onNewSubscription(const ros::SingleSubscriberPublisher& pub); + + ros::NodeHandle* node; + Costmap2D* costmap_; + std::string global_frame_; + unsigned int x0_, xn_, y0_, yn_; + double saved_origin_x_, saved_origin_y_; + bool active_; + bool always_send_full_costmap_; + ros::Publisher costmap_pub_; + ros::Publisher costmap_update_pub_; + nav_msgs::OccupancyGrid grid_; + static char* cost_translation_table_; ///< Translate from 0-255 values in costmap to -1 to 100 values in message. +}; +} // namespace costmap_2d +#endif // COSTMAP_2D_COSTMAP_2D_PUBLISHER_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h new file mode 100644 index 0000000..e76894c --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h @@ -0,0 +1,282 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_COSTMAP_2D_ROS_H_ +#define COSTMAP_2D_COSTMAP_2D_ROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class SuperValue : public XmlRpc::XmlRpcValue +{ +public: + void setStruct(XmlRpc::XmlRpcValue::ValueStruct* a) + { + _type = TypeStruct; + _value.asStruct = new XmlRpc::XmlRpcValue::ValueStruct(*a); + } + void setArray(XmlRpc::XmlRpcValue::ValueArray* a) + { + _type = TypeArray; + _value.asArray = new std::vector(*a); + } +}; + +namespace costmap_2d +{ + +/** @brief A ROS wrapper for a 2D Costmap. Handles subscribing to + * topics that provide observations about obstacles in either the form + * of PointCloud or LaserScan messages. */ +class Costmap2DROS +{ +public: + /** + * @brief Constructor for the wrapper + * @param name The name for this costmap + * @param tf A reference to a TransformListener + */ + Costmap2DROS(const std::string &name, tf2_ros::Buffer& tf); + ~Costmap2DROS(); + + /** + * @brief Subscribes to sensor topics if necessary and starts costmap + * updates, can be called to restart the costmap after calls to either + * stop() or pause() + */ + void start(); + + /** + * @brief Stops costmap updates and unsubscribes from sensor topics + */ + void stop(); + + /** + * @brief Stops the costmap from updating, but sensor data still comes in over the wire + */ + void pause(); + + /** + * @brief Resumes costmap updates + */ + void resume(); + + void updateMap(); + + /** + * @brief Reset each individual layer + */ + void resetLayers(); + + /** @brief Same as getLayeredCostmap()->isCurrent(). */ + bool isCurrent() const + { + return layered_costmap_->isCurrent(); + } + + /** + * @brief Is the costmap stopped + */ + bool isStopped() const + { + return stopped_; + } + + /** + * @brief Get the pose of the robot in the global frame of the costmap + * @param global_pose Will be set to the pose of the robot in the global frame of the costmap + * @return True if the pose was set successfully, false otherwise + */ + bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const; + + /** @brief Returns costmap name */ + inline const std::string& getName() const noexcept + { + return name_; + } + + /** @brief Returns the delay in transform (tf) data that is tolerable in seconds */ + double getTransformTolerance() const + { + return transform_tolerance_; + } + + /** @brief Return a pointer to the "master" costmap which receives updates from all the layers. + * + * Same as calling getLayeredCostmap()->getCostmap(). */ + Costmap2D* getCostmap() const + { + return layered_costmap_->getCostmap(); + } + + /** + * @brief Returns the global frame of the costmap + * @return The global frame of the costmap + */ + inline const std::string& getGlobalFrameID() const noexcept + { + return global_frame_; + } + + /** + * @brief Returns the local frame of the costmap + * @return The local frame of the costmap + */ + inline const std::string& getBaseFrameID() const noexcept + { + return robot_base_frame_; + } + LayeredCostmap* getLayeredCostmap() const + { + return layered_costmap_; + } + + /** @brief Returns the current padded footprint as a geometry_msgs::Polygon. */ + geometry_msgs::Polygon getRobotFootprintPolygon() const + { + return costmap_2d::toPolygon(padded_footprint_); + } + + /** @brief Return the current footprint of the robot as a vector of points. + * + * This version of the footprint is padded by the footprint_padding_ + * distance, set in the rosparam "footprint_padding". + * + * The footprint initially comes from the rosparam "footprint" but + * can be overwritten by dynamic reconfigure or by messages received + * on the "footprint" topic. */ + inline const std::vector& getRobotFootprint() const noexcept + { + return padded_footprint_; + } + + /** @brief Return the current unpadded footprint of the robot as a vector of points. + * + * This is the raw version of the footprint without padding. + * + * The footprint initially comes from the rosparam "footprint" but + * can be overwritten by dynamic reconfigure or by messages received + * on the "footprint" topic. */ + inline const std::vector& getUnpaddedRobotFootprint() const noexcept + { + return unpadded_footprint_; + } + + /** + * @brief Build the oriented footprint of the robot at the robot's current pose + * @param oriented_footprint Will be filled with the points in the oriented footprint of the robot + */ + void getOrientedFootprint(std::vector& oriented_footprint) const; + + /** @brief Set the footprint of the robot to be the given set of + * points, padded by footprint_padding. + * + * Should be a convex polygon, though this is not enforced. + * + * First expands the given polygon by footprint_padding_ and then + * sets padded_footprint_ and calls + * layered_costmap_->setFootprint(). Also saves the unpadded + * footprint, which is available from + * getUnpaddedRobotFootprint(). */ + void setUnpaddedRobotFootprint(const std::vector& points); + + /** @brief Set the footprint of the robot to be the given polygon, + * padded by footprint_padding. + * + * Should be a convex polygon, though this is not enforced. + * + * First expands the given polygon by footprint_padding_ and then + * sets padded_footprint_ and calls + * layered_costmap_->setFootprint(). Also saves the unpadded + * footprint, which is available from + * getUnpaddedRobotFootprint(). */ + void setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon& footprint); + +protected: + LayeredCostmap* layered_costmap_; + std::string name_; + tf2_ros::Buffer& tf_; ///< @brief Used for transforming point clouds + std::string global_frame_; ///< @brief The global frame for the costmap + std::string robot_base_frame_; ///< @brief The frame_id of the robot base + double transform_tolerance_; ///< timeout before transform errors + +private: + /** @brief Set the footprint from the new_config object. + * + * If the values of footprint and robot_radius are the same in + * new_config and old_config, nothing is changed. */ + void readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config, + const costmap_2d::Costmap2DConfig &old_config); + + void loadOldParameters(ros::NodeHandle& nh); + void warnForOldParameters(ros::NodeHandle& nh); + void checkOldParam(ros::NodeHandle& nh, const std::string ¶m_name); + void copyParentParameters(const std::string& plugin_name, const std::string& plugin_type, ros::NodeHandle& nh); + void reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level); + void movementCB(const ros::TimerEvent &event); + void mapUpdateLoop(double frequency); + bool map_update_thread_shutdown_; + bool stop_updates_, initialized_, stopped_; + boost::thread* map_update_thread_; ///< @brief A thread for updating the map + ros::Time last_publish_; + ros::Duration publish_cycle; + pluginlib::ClassLoader plugin_loader_; + Costmap2DPublisher* publisher_; + dynamic_reconfigure::Server *dsrv_; + + boost::recursive_mutex configuration_mutex_; + + ros::Subscriber footprint_sub_; + ros::Publisher footprint_pub_; + std::vector unpadded_footprint_; + std::vector padded_footprint_; + float footprint_padding_; + costmap_2d::Costmap2DConfig old_config_; +}; +// class Costmap2DROS +} // namespace costmap_2d + +#endif // COSTMAP_2D_COSTMAP_2D_ROS_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/costmap_layer.h b/src/navigation/costmap_2d/include/costmap_2d/costmap_layer.h new file mode 100644 index 0000000..a989796 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/costmap_layer.h @@ -0,0 +1,151 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_COSTMAP_LAYER_H_ +#define COSTMAP_2D_COSTMAP_LAYER_H_ +#include +#include +#include + +namespace costmap_2d +{ + +class CostmapLayer : public Layer, public Costmap2D +{ +public: + CostmapLayer() : has_extra_bounds_(false), + extra_min_x_(1e6), extra_max_x_(-1e6), + extra_min_y_(1e6), extra_max_y_(-1e6) {} + + bool isDiscretized() + { + return true; + } + + virtual void matchSize(); + + virtual void clearArea(int start_x, int start_y, int end_x, int end_y, bool invert_area=false); + + /** + * If an external source changes values in the costmap, + * it should call this method with the area that it changed + * to ensure that the costmap includes this region as well. + * @param mx0 Minimum x value of the bounding box + * @param my0 Minimum y value of the bounding box + * @param mx1 Maximum x value of the bounding box + * @param my1 Maximum y value of the bounding box + */ + void addExtraBounds(double mx0, double my0, double mx1, double my1); + +protected: + /* + * Updates the master_grid within the specified + * bounding box using this layer's values. + * + * TrueOverwrite means every value from this layer + * is written into the master grid. + */ + void updateWithTrueOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + /* + * Updates the master_grid within the specified + * bounding box using this layer's values. + * + * Overwrite means every valid value from this layer + * is written into the master grid (does not copy NO_INFORMATION) + */ + void updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + /* + * Updates the master_grid within the specified + * bounding box using this layer's values. + * + * Sets the new value to the maximum of the master_grid's value + * and this layer's value. If the master value is NO_INFORMATION, + * it is overwritten. If the layer's value is NO_INFORMATION, + * the master value does not change. + */ + void updateWithMax(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + /* + * Updates the master_grid within the specified + * bounding box using this layer's values. + * + * Sets the new value to the sum of the master grid's value + * and this layer's value. If the master value is NO_INFORMATION, + * it is overwritten with the layer's value. If the layer's value + * is NO_INFORMATION, then the master value does not change. + * + * If the sum value is larger than INSCRIBED_INFLATED_OBSTACLE, + * the master value is set to (INSCRIBED_INFLATED_OBSTACLE - 1). + */ + void updateWithAddition(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + /** + * Updates the bounding box specified in the parameters to include + * the location (x,y) + * + * @param x x-coordinate to include + * @param y y-coordinate to include + * @param min_x bounding box + * @param min_y bounding box + * @param max_x bounding box + * @param max_y bounding box + */ + void touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y); + + /* + * Updates the bounding box specified in the parameters + * to include the bounding box from the addExtraBounds + * call. If addExtraBounds was not called, the method will do nothing. + * + * Should be called at the beginning of the updateBounds method + * + * @param min_x bounding box (input and output) + * @param min_y bounding box (input and output) + * @param max_x bounding box (input and output) + * @param max_y bounding box (input and output) + */ + void useExtraBounds(double* min_x, double* min_y, double* max_x, double* max_y); + bool has_extra_bounds_; + +private: + double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_; +}; + +} // namespace costmap_2d +#endif // COSTMAP_2D_COSTMAP_LAYER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/costmap_math.h b/src/navigation/costmap_2d/include/costmap_2d/costmap_math.h new file mode 100644 index 0000000..71fe96c --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/costmap_math.h @@ -0,0 +1,69 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_COSTMAP_MATH_H_ +#define COSTMAP_2D_COSTMAP_MATH_H_ + +#include +#include +#include +#include + +/** @brief Return -1 if x < 0, +1 otherwise. */ +inline double sign(double x) +{ + return x < 0.0 ? -1.0 : 1.0; +} + +/** @brief Same as sign(x) but returns 0 if x is 0. */ +inline double sign0(double x) +{ + return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0); +} + +inline double distance(double x0, double y0, double x1, double y1) +{ + return hypot(x1 - x0, y1 - y0); +} + +double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1); + +bool intersects(std::vector& polygon, float testx, float testy); + +bool intersects(std::vector& polygon1, std::vector& polygon2); + +#endif // COSTMAP_2D_COSTMAP_MATH_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/footprint.h b/src/navigation/costmap_2d/include/costmap_2d/footprint.h new file mode 100644 index 0000000..6b1d1be --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/footprint.h @@ -0,0 +1,147 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_FOOTPRINT_H +#define COSTMAP_2D_FOOTPRINT_H + +#include +#include +#include +#include +#include + +namespace costmap_2d +{ + +/** + * @brief Calculate the extreme distances for the footprint + * + * @param footprint The footprint to examine + * @param min_dist Output parameter of the minimum distance + * @param max_dist Output parameter of the maximum distance + */ +void calculateMinAndMaxDistances(const std::vector& footprint, + double& min_dist, double& max_dist); + +/** + * @brief Convert Point32 to Point + */ +geometry_msgs::Point toPoint(geometry_msgs::Point32 pt); + +/** + * @brief Convert Point to Point32 + */ +geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt); + +/** + * @brief Convert vector of Points to Polygon msg + */ +geometry_msgs::Polygon toPolygon(std::vector pts); + +/** + * @brief Convert Polygon msg to vector of Points. + */ +std::vector toPointVector(geometry_msgs::Polygon polygon); + +/** + * @brief Given a pose and base footprint, build the oriented footprint of the robot (list of Points) + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param footprint_spec Basic shape of the footprint + * @param oriented_footprint Will be filled with the points in the oriented footprint of the robot +*/ +void transformFootprint(double x, double y, double theta, const std::vector& footprint_spec, + std::vector& oriented_footprint); + +/** + * @brief Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped) + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param footprint_spec Basic shape of the footprint + * @param oriented_footprint Will be filled with the points in the oriented footprint of the robot +*/ +void transformFootprint(double x, double y, double theta, const std::vector& footprint_spec, + geometry_msgs::PolygonStamped & oriented_footprint); + +/** + * @brief Adds the specified amount of padding to the footprint (in place) + */ +void padFootprint(std::vector& footprint, double padding); + +/** + * @brief Create a circular footprint from a given radius + */ +std::vector makeFootprintFromRadius(double radius); + +/** + * @brief Make the footprint from the given string. + * + * Format should be bracketed array of arrays of floats, like so: [[1.0, 2.2], [3.3, 4.2], ...] + * + */ +bool makeFootprintFromString(const std::string& footprint_string, std::vector& footprint); + +/** + * @brief Read the ros-params "footprint" and/or "robot_radius" from + * the given NodeHandle using searchParam() to go up the tree. + */ +std::vector makeFootprintFromParams(ros::NodeHandle& nh); + +/** + * @brief Create the footprint from the given XmlRpcValue. + * + * @param footprint_xmlrpc should be an array of arrays, where the + * top-level array should have 3 or more elements, and the + * sub-arrays should all have exactly 2 elements (x and y + * coordinates). + * + * @param full_param_name this is the full name of the rosparam from + * which the footprint_xmlrpc value came. It is used only for + * reporting errors. */ +std::vector makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc, + const std::string& full_param_name); + +/** @brief Write the current unpadded_footprint_ to the "footprint" + * parameter of the given NodeHandle so that dynamic_reconfigure + * will see the new value. */ +void writeFootprintToParam(ros::NodeHandle& nh, const std::vector& footprint); + +} // end namespace costmap_2d + +#endif // COSTMAP_2D_FOOTPRINT_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/inflation_layer.h b/src/navigation/costmap_2d/include/costmap_2d/inflation_layer.h new file mode 100644 index 0000000..cf601d1 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/inflation_layer.h @@ -0,0 +1,200 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_INFLATION_LAYER_H_ +#define COSTMAP_2D_INFLATION_LAYER_H_ + +#include +#include +#include +#include +#include +#include + +namespace costmap_2d +{ +/** + * @class CellData + * @brief Storage for cell information used during obstacle inflation + */ +class CellData +{ +public: + /** + * @brief Constructor for a CellData objects + * @param i The index of the cell in the cost map + * @param x The x coordinate of the cell in the cost map + * @param y The y coordinate of the cell in the cost map + * @param sx The x coordinate of the closest obstacle cell in the costmap + * @param sy The y coordinate of the closest obstacle cell in the costmap + * @return + */ + CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) : + index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy) + { + } + unsigned int index_; + unsigned int x_, y_; + unsigned int src_x_, src_y_; +}; + +class InflationLayer : public Layer +{ +public: + InflationLayer(); + + virtual ~InflationLayer() + { + deleteKernels(); + if (dsrv_) + delete dsrv_; + if (seen_) + delete[] seen_; + } + + virtual void onInitialize(); + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y); + virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + virtual bool isDiscretized() + { + return true; + } + virtual void matchSize(); + + virtual void reset() { onInitialize(); } + + /** @brief Given a distance, compute a cost. + * @param distance The distance from an obstacle in cells + * @return A cost value for the distance */ + virtual inline unsigned char computeCost(double distance) const + { + unsigned char cost = 0; + if (distance == 0) + cost = LETHAL_OBSTACLE; + else if (distance * resolution_ <= inscribed_radius_) + cost = INSCRIBED_INFLATED_OBSTACLE; + else + { + // make sure cost falls off by Euclidean distance + double euclidean_distance = distance * resolution_; + double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_)); + cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor); + } + return cost; + } + + /** + * @brief Change the values of the inflation radius parameters + * @param inflation_radius The new inflation radius + * @param cost_scaling_factor The new weight + */ + void setInflationParameters(double inflation_radius, double cost_scaling_factor); + +protected: + virtual void onFootprintChanged(); + boost::recursive_mutex* inflation_access_; + + double resolution_; + double inflation_radius_; + double inscribed_radius_; + double weight_; + bool inflate_unknown_; + +private: + /** + * @brief Lookup pre-computed distances + * @param mx The x coordinate of the current cell + * @param my The y coordinate of the current cell + * @param src_x The x coordinate of the source cell + * @param src_y The y coordinate of the source cell + * @return + */ + inline double distanceLookup(int mx, int my, int src_x, int src_y) + { + unsigned int dx = abs(mx - src_x); + unsigned int dy = abs(my - src_y); + return cached_distances_[dx][dy]; + } + + /** + * @brief Lookup pre-computed costs + * @param mx The x coordinate of the current cell + * @param my The y coordinate of the current cell + * @param src_x The x coordinate of the source cell + * @param src_y The y coordinate of the source cell + * @return + */ + inline unsigned char costLookup(int mx, int my, int src_x, int src_y) + { + unsigned int dx = abs(mx - src_x); + unsigned int dy = abs(my - src_y); + return cached_costs_[dx][dy]; + } + + void computeCaches(); + void deleteKernels(); + void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid); + + unsigned int cellDistance(double world_dist) + { + return layered_costmap_->getCostmap()->cellDistance(world_dist); + } + + inline void enqueue(unsigned int index, unsigned int mx, unsigned int my, + unsigned int src_x, unsigned int src_y); + + unsigned int cell_inflation_radius_; + unsigned int cached_cell_inflation_radius_; + std::map > inflation_cells_; + + bool* seen_; + int seen_size_; + + unsigned char** cached_costs_; + double** cached_distances_; + double last_min_x_, last_min_y_, last_max_x_, last_max_y_; + + dynamic_reconfigure::Server *dsrv_; + void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level); + + bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around. +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_INFLATION_LAYER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/layer.h b/src/navigation/costmap_2d/include/costmap_2d/layer.h new file mode 100644 index 0000000..79f57ce --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/layer.h @@ -0,0 +1,151 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_LAYER_H_ +#define COSTMAP_2D_LAYER_H_ + +#include +#include +#include +#include + +namespace costmap_2d +{ +class LayeredCostmap; + +class Layer +{ +public: + Layer(); + + void initialize(LayeredCostmap* parent, std::string name, tf2_ros::Buffer *tf); + + /** + * @brief This is called by the LayeredCostmap to poll this plugin as to how + * much of the costmap it needs to update. Each layer can increase + * the size of this bounds. + * + * For more details, see "Layered Costmaps for Context-Sensitive Navigation", + * by Lu et. Al, IROS 2014. + */ + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y) {} + + /** + * @brief Actually update the underlying costmap, only within the bounds + * calculated during UpdateBounds(). + */ + virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) {} + + /** @brief Stop publishers. */ + virtual void deactivate() {} + + /** @brief Restart publishers if they've been stopped. */ + virtual void activate() {} + + virtual void reset() {} + + virtual ~Layer() {} + + /** + * @brief Check to make sure all the data in the layer is up to date. + * If the layer is not up to date, then it may be unsafe to + * plan using the data from this layer, and the planner may + * need to know. + * + * A layer's current state should be managed by the protected + * variable current_. + * @return Whether the data in the layer is up to date. + */ + bool isCurrent() const + { + return current_; + } + + /** + * @brief getter if the current layer is enabled. + * + * The user may enable/disable a layer though dynamic reconfigure. + * Disabled layers won't receive calls to + * - Layer::updateCosts + * - Layer::updateBounds + * - Layer::isCurrent + * from the LayeredCostmap. + * + * Calls to Layer::activate, Layer::deactivate and Layer::reset won't be + * blocked. + */ + inline bool isEnabled() const noexcept + { + return enabled_; + } + + /** @brief Implement this to make this layer match the size of the parent costmap. */ + virtual void matchSize() {} + + inline const std::string& getName() const noexcept + { + return name_; + } + + /** @brief Convenience function for layered_costmap_->getFootprint(). */ + const std::vector& getFootprint() const; + + /** @brief LayeredCostmap calls this whenever the footprint there + * changes (via LayeredCostmap::setFootprint()). Override to be + * notified of changes to the robot's footprint. */ + virtual void onFootprintChanged() {} + +protected: + /** @brief This is called at the end of initialize(). Override to + * implement subclass-specific initialization. + * + * tf_, name_, and layered_costmap_ will all be set already when this is called. */ + virtual void onInitialize() {} + + LayeredCostmap* layered_costmap_; + bool current_; + bool enabled_; + std::string name_; + tf2_ros::Buffer *tf_; + +private: + std::vector footprint_spec_; +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_LAYER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/layered_costmap.h b/src/navigation/costmap_2d/include/costmap_2d/layered_costmap.h new file mode 100644 index 0000000..72a8bdd --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/layered_costmap.h @@ -0,0 +1,177 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_LAYERED_COSTMAP_H_ +#define COSTMAP_2D_LAYERED_COSTMAP_H_ + +#include +#include +#include +#include +#include + +namespace costmap_2d +{ +class Layer; + +/** + * @class LayeredCostmap + * @brief Instantiates different layer plugins and aggregates them into one score + */ +class LayeredCostmap +{ +public: + /** + * @brief Constructor for a costmap + */ + LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown); + + /** + * @brief Destructor + */ + ~LayeredCostmap(); + + /** + * @brief Update the underlying costmap with new data. + * If you want to update the map outside of the update loop that runs, you can call this. + */ + void updateMap(double robot_x, double robot_y, double robot_yaw); + + inline const std::string& getGlobalFrameID() const noexcept + { + return global_frame_; + } + + void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y, + bool size_locked = false); + + void getUpdatedBounds(double& minx, double& miny, double& maxx, double& maxy) + { + minx = minx_; + miny = miny_; + maxx = maxx_; + maxy = maxy_; + } + + bool isCurrent(); + + Costmap2D* getCostmap() + { + return &costmap_; + } + + bool isRolling() + { + return rolling_window_; + } + + bool isTrackingUnknown() + { + return costmap_.getDefaultValue() == costmap_2d::NO_INFORMATION; + } + + std::vector >* getPlugins() + { + return &plugins_; + } + + void addPlugin(boost::shared_ptr plugin) + { + plugins_.push_back(plugin); + } + + bool isSizeLocked() + { + return size_locked_; + } + + void getBounds(unsigned int* x0, unsigned int* xn, unsigned int* y0, unsigned int* yn) + { + *x0 = bx0_; + *xn = bxn_; + *y0 = by0_; + *yn = byn_; + } + + bool isInitialized() + { + return initialized_; + } + + /** @brief Updates the stored footprint, updates the circumscribed + * and inscribed radii, and calls onFootprintChanged() in all + * layers. */ + void setFootprint(const std::vector& footprint_spec); + + /** @brief Returns the latest footprint stored with setFootprint(). */ + const std::vector& getFootprint() { return footprint_; } + + /** @brief The radius of a circle centered at the origin of the + * robot which just surrounds all points on the robot's + * footprint. + * + * This is updated by setFootprint(). */ + double getCircumscribedRadius() { return circumscribed_radius_; } + + /** @brief The radius of a circle centered at the origin of the + * robot which is just within all points and edges of the robot's + * footprint. + * + * This is updated by setFootprint(). */ + double getInscribedRadius() { return inscribed_radius_; } + +private: + Costmap2D costmap_; + std::string global_frame_; + + bool rolling_window_; /// < @brief Whether or not the costmap should roll with the robot + + bool current_; + double minx_, miny_, maxx_, maxy_; + unsigned int bx0_, bxn_, by0_, byn_; + + std::vector > plugins_; + + bool initialized_; + bool size_locked_; + double circumscribed_radius_, inscribed_radius_; + std::vector footprint_; +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_LAYERED_COSTMAP_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/observation.h b/src/navigation/costmap_2d/include/costmap_2d/observation.h new file mode 100644 index 0000000..695892b --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/observation.h @@ -0,0 +1,102 @@ +/* + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Authors: Conor McGann + */ + +#ifndef COSTMAP_2D_OBSERVATION_H_ +#define COSTMAP_2D_OBSERVATION_H_ + +#include +#include + +namespace costmap_2d +{ + +/** + * @brief Stores an observation in terms of a point cloud and the origin of the source + * @note Tried to make members and constructor arguments const but the compiler would not accept the default + * assignment operator for vector insertion! + */ +class Observation +{ +public: + /** + * @brief Creates an empty observation + */ + Observation() : + cloud_(new sensor_msgs::PointCloud2()), obstacle_range_(0.0), raytrace_range_(0.0) + { + } + + virtual ~Observation() + { + delete cloud_; + } + + /** + * @brief Creates an observation from an origin point and a point cloud + * @param origin The origin point of the observation + * @param cloud The point cloud of the observation + * @param obstacle_range The range out to which an observation should be able to insert obstacles + * @param raytrace_range The range out to which an observation should be able to clear via raytracing + */ + Observation(geometry_msgs::Point& origin, const sensor_msgs::PointCloud2 &cloud, + double obstacle_range, double raytrace_range) : + origin_(origin), cloud_(new sensor_msgs::PointCloud2(cloud)), + obstacle_range_(obstacle_range), raytrace_range_(raytrace_range) + { + } + + /** + * @brief Copy constructor + * @param obs The observation to copy + */ + Observation(const Observation& obs) : + origin_(obs.origin_), cloud_(new sensor_msgs::PointCloud2(*(obs.cloud_))), + obstacle_range_(obs.obstacle_range_), raytrace_range_(obs.raytrace_range_) + { + } + + /** + * @brief Creates an observation from a point cloud + * @param cloud The point cloud of the observation + * @param obstacle_range The range out to which an observation should be able to insert obstacles + */ + Observation(const sensor_msgs::PointCloud2 &cloud, double obstacle_range) : + cloud_(new sensor_msgs::PointCloud2(cloud)), obstacle_range_(obstacle_range), raytrace_range_(0.0) + { + } + + geometry_msgs::Point origin_; + sensor_msgs::PointCloud2* cloud_; + double obstacle_range_, raytrace_range_; +}; + +} // namespace costmap_2d +#endif // COSTMAP_2D_OBSERVATION_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/observation_buffer.h b/src/navigation/costmap_2d/include/costmap_2d/observation_buffer.h new file mode 100644 index 0000000..14d7165 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/observation_buffer.h @@ -0,0 +1,154 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ +#ifndef COSTMAP_2D_OBSERVATION_BUFFER_H_ +#define COSTMAP_2D_OBSERVATION_BUFFER_H_ + +#include +#include +#include +#include +#include +#include + +#include + +// Thread support +#include + +namespace costmap_2d +{ +/** + * @class ObservationBuffer + * @brief Takes in point clouds from sensors, transforms them to the desired frame, and stores them + */ +class ObservationBuffer +{ +public: + /** + * @brief Constructs an observation buffer + * @param topic_name The topic of the observations, used as an identifier for error and warning messages + * @param observation_keep_time Defines the persistence of observations in seconds, 0 means only keep the latest + * @param expected_update_rate How often this buffer is expected to be updated, 0 means there is no limit + * @param min_obstacle_height The minimum height of a hitpoint to be considered legal + * @param max_obstacle_height The minimum height of a hitpoint to be considered legal + * @param obstacle_range The range to which the sensor should be trusted for inserting obstacles + * @param raytrace_range The range to which the sensor should be trusted for raytracing to clear out space + * @param tf2_buffer A reference to a tf2 Buffer + * @param global_frame The frame to transform PointClouds into + * @param sensor_frame The frame of the origin of the sensor, can be left blank to be read from the messages + * @param tf_tolerance The amount of time to wait for a transform to be available when setting a new global frame + */ + ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate, + double min_obstacle_height, double max_obstacle_height, double obstacle_range, + double raytrace_range, tf2_ros::Buffer& tf2_buffer, std::string global_frame, + std::string sensor_frame, double tf_tolerance); + + /** + * @brief Destructor... cleans up + */ + ~ObservationBuffer(); + + /** + * @brief Sets the global frame of an observation buffer. This will + * transform all the currently cached observations to the new global + * frame + * @param new_global_frame The name of the new global frame. + * @return True if the operation succeeds, false otherwise + */ + bool setGlobalFrame(const std::string new_global_frame); + + /** + * @brief Transforms a PointCloud to the global frame and buffers it + * Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier + * @param cloud The cloud to be buffered + */ + void bufferCloud(const sensor_msgs::PointCloud2& cloud); + + /** + * @brief Pushes copies of all current observations onto the end of the vector passed in + * @param observations The vector to be filled + */ + void getObservations(std::vector& observations); + + /** + * @brief Check if the observation buffer is being update at its expected rate + * @return True if it is being updated at the expected rate, false otherwise + */ + bool isCurrent() const; + + /** + * @brief Lock the observation buffer + */ + inline void lock() + { + lock_.lock(); + } + + /** + * @brief Lock the observation buffer + */ + inline void unlock() + { + lock_.unlock(); + } + + /** + * @brief Reset last updated timestamp + */ + void resetLastUpdated(); + +private: + /** + * @brief Removes any stale observations from the buffer list + */ + void purgeStaleObservations(); + + tf2_ros::Buffer& tf2_buffer_; + const ros::Duration observation_keep_time_; + const ros::Duration expected_update_rate_; + ros::Time last_updated_; + std::string global_frame_; + std::string sensor_frame_; + std::list observation_list_; + std::string topic_name_; + double min_obstacle_height_, max_obstacle_height_; + boost::recursive_mutex lock_; ///< @brief A lock for accessing data in callbacks safely + double obstacle_range_, raytrace_range_; + double tf_tolerance_; +}; +} // namespace costmap_2d +#endif // COSTMAP_2D_OBSERVATION_BUFFER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/obstacle_layer.h b/src/navigation/costmap_2d/include/costmap_2d/obstacle_layer.h new file mode 100644 index 0000000..ea5a8db --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/obstacle_layer.h @@ -0,0 +1,177 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_ +#define COSTMAP_2D_OBSTACLE_LAYER_H_ + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_2d +{ + +class ObstacleLayer : public CostmapLayer +{ +public: + ObstacleLayer() + { + costmap_ = NULL; // this is the unsigned char* member of parent class Costmap2D. + } + + virtual ~ObstacleLayer(); + virtual void onInitialize(); + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y); + virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + virtual void activate(); + virtual void deactivate(); + virtual void reset(); + + /** + * @brief A callback to handle buffering LaserScan messages + * @param message The message returned from a message notifier + * @param buffer A pointer to the observation buffer to update + */ + void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message, + const boost::shared_ptr& buffer); + + /** + * @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max. + * @param message The message returned from a message notifier + * @param buffer A pointer to the observation buffer to update + */ + void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message, + const boost::shared_ptr& buffer); + + /** + * @brief A callback to handle buffering PointCloud messages + * @param message The message returned from a message notifier + * @param buffer A pointer to the observation buffer to update + */ + void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message, + const boost::shared_ptr& buffer); + + /** + * @brief A callback to handle buffering PointCloud2 messages + * @param message The message returned from a message notifier + * @param buffer A pointer to the observation buffer to update + */ + void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message, + const boost::shared_ptr& buffer); + + // for testing purposes + void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing); + void clearStaticObservations(bool marking, bool clearing); + +protected: + virtual void setupDynamicReconfigure(ros::NodeHandle& nh); + + /** + * @brief Get the observations used to mark space + * @param marking_observations A reference to a vector that will be populated with the observations + * @return True if all the observation buffers are current, false otherwise + */ + bool getMarkingObservations(std::vector& marking_observations) const; + + /** + * @brief Get the observations used to clear space + * @param clearing_observations A reference to a vector that will be populated with the observations + * @return True if all the observation buffers are current, false otherwise + */ + bool getClearingObservations(std::vector& clearing_observations) const; + + /** + * @brief Clear freespace based on one observation + * @param clearing_observation The observation used to raytrace + * @param min_x + * @param min_y + * @param max_x + * @param max_y + */ + virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y, + double* max_x, double* max_y); + + void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y, + double* max_x, double* max_y); + + std::vector transformed_footprint_; + bool footprint_clearing_enabled_; + void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y); + + std::string global_frame_; ///< @brief The global frame for the costmap + double max_obstacle_height_; ///< @brief Max Obstacle Height + + laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds + + std::vector > observation_subscribers_; ///< @brief Used for the observation message filters + std::vector > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor + std::vector > observation_buffers_; ///< @brief Used to store observations from various sensors + std::vector > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles + std::vector > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles + + // Used only for testing purposes + std::vector static_clearing_observations_, static_marking_observations_; + + bool rolling_window_; + dynamic_reconfigure::Server *dsrv_; + + int combination_method_; + +private: + void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level); +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_OBSTACLE_LAYER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/static_layer.h b/src/navigation/costmap_2d/include/costmap_2d/static_layer.h new file mode 100644 index 0000000..3fe9a76 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/static_layer.h @@ -0,0 +1,101 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_STATIC_LAYER_H_ +#define COSTMAP_2D_STATIC_LAYER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_2d +{ + +class StaticLayer : public CostmapLayer +{ +public: + StaticLayer(); + virtual ~StaticLayer(); + virtual void onInitialize(); + virtual void activate(); + virtual void deactivate(); + virtual void reset(); + + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y); + virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); + + virtual void matchSize(); + +private: + /** + * @brief Callback to update the costmap's map from the map_server + * @param new_map The map to put into the costmap. The origin of the new + * map along with its size will determine what parts of the costmap's + * static map are overwritten. + */ + void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map); + void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update); + void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level); + + unsigned char interpretValue(unsigned char value); + + std::string global_frame_; ///< @brief The global frame for the costmap + std::string map_frame_; /// @brief frame that map is located in + bool subscribe_to_updates_; + bool map_received_; + bool has_updated_data_; + unsigned int x_, y_, width_, height_; + bool track_unknown_space_; + bool use_maximum_; + bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing + bool trinary_costmap_; + ros::Subscriber map_sub_, map_update_sub_; + + unsigned char lethal_threshold_, unknown_cost_value_; + + dynamic_reconfigure::Server *dsrv_; +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_STATIC_LAYER_H_ diff --git a/src/navigation/costmap_2d/include/costmap_2d/testing_helper.h b/src/navigation/costmap_2d/include/costmap_2d/testing_helper.h new file mode 100644 index 0000000..0a2bdc0 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/testing_helper.h @@ -0,0 +1,99 @@ +#ifndef COSTMAP_2D_TESTING_HELPER_H +#define COSTMAP_2D_TESTING_HELPER_H + +#include +#include +#include +#include +#include + +#include + +const double MAX_Z(1.0); + +char printableCost(unsigned char cost) +{ + switch (cost) + { + case costmap_2d::NO_INFORMATION: return '?'; + case costmap_2d::LETHAL_OBSTACLE: return 'L'; + case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: return 'I'; + case costmap_2d::FREE_SPACE: return '.'; + default: return '0' + (unsigned char) (10 * cost / 255); + } +} + +void printMap(costmap_2d::Costmap2D& costmap) +{ + printf("map:\n"); + for (int i = 0; i < costmap.getSizeInCellsY(); i++){ + for (int j = 0; j < costmap.getSizeInCellsX(); j++){ + printf("%4d", int(costmap.getCost(j, i))); + } + printf("\n\n"); + } +} + +unsigned int countValues(costmap_2d::Costmap2D& costmap, unsigned char value, bool equal = true) +{ + unsigned int count = 0; + for (int i = 0; i < costmap.getSizeInCellsY(); i++){ + for (int j = 0; j < costmap.getSizeInCellsX(); j++){ + unsigned char c = costmap.getCost(j, i); + if ((equal && c == value) || (!equal && c != value)) + { + count+=1; + } + } + } + return count; +} + +void addStaticLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf) +{ + costmap_2d::StaticLayer* slayer = new costmap_2d::StaticLayer(); + layers.addPlugin(boost::shared_ptr(slayer)); + slayer->initialize(&layers, "static", &tf); +} + +costmap_2d::ObstacleLayer* addObstacleLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf) +{ + costmap_2d::ObstacleLayer* olayer = new costmap_2d::ObstacleLayer(); + olayer->initialize(&layers, "obstacles", &tf); + layers.addPlugin(boost::shared_ptr(olayer)); + return olayer; +} + +void addObservation(costmap_2d::ObstacleLayer* olayer, double x, double y, double z = 0.0, + double ox = 0.0, double oy = 0.0, double oz = MAX_Z){ + sensor_msgs::PointCloud2 cloud; + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.resize(1); + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + *iter_x = x; + *iter_y = y; + *iter_z = z; + + geometry_msgs::Point p; + p.x = ox; + p.y = oy; + p.z = oz; + + costmap_2d::Observation obs(p, cloud, 100.0, 100.0); // obstacle range = raytrace range = 100.0 + olayer->addStaticObservation(obs, true, true); +} + +costmap_2d::InflationLayer* addInflationLayer(costmap_2d::LayeredCostmap& layers, tf2_ros::Buffer& tf) +{ + costmap_2d::InflationLayer* ilayer = new costmap_2d::InflationLayer(); + ilayer->initialize(&layers, "inflation", &tf); + boost::shared_ptr ipointer(ilayer); + layers.addPlugin(ipointer); + return ilayer; +} + + +#endif // COSTMAP_2D_TESTING_HELPER_H diff --git a/src/navigation/costmap_2d/include/costmap_2d/voxel_layer.h b/src/navigation/costmap_2d/include/costmap_2d/voxel_layer.h new file mode 100644 index 0000000..e8091e0 --- /dev/null +++ b/src/navigation/costmap_2d/include/costmap_2d/voxel_layer.h @@ -0,0 +1,150 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef COSTMAP_2D_VOXEL_LAYER_H_ +#define COSTMAP_2D_VOXEL_LAYER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_2d +{ + +class VoxelLayer : public ObstacleLayer +{ +public: + VoxelLayer() : + voxel_grid_(0, 0, 0) + { + costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D. + } + + virtual ~VoxelLayer(); + + virtual void onInitialize(); + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y); + + void updateOrigin(double new_origin_x, double new_origin_y); + bool isDiscretized() + { + return true; + } + virtual void matchSize(); + virtual void reset(); + + +protected: + virtual void setupDynamicReconfigure(ros::NodeHandle& nh); + + virtual void resetMaps(); + +private: + void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level); + void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info); + virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y, + double* max_x, double* max_y); + + dynamic_reconfigure::Server *voxel_dsrv_; + + bool publish_voxel_; + ros::Publisher voxel_pub_; + voxel_grid::VoxelGrid voxel_grid_; + double z_resolution_, origin_z_; + unsigned int unknown_threshold_, mark_threshold_, size_z_; + ros::Publisher clearing_endpoints_pub_; + sensor_msgs::PointCloud clearing_endpoints_; + + inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz) + { + if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) + return false; + mx = ((wx - origin_x_) / resolution_); + my = ((wy - origin_y_) / resolution_); + mz = ((wz - origin_z_) / z_resolution_); + if (mx < size_x_ && my < size_y_ && mz < size_z_) + return true; + + return false; + } + + inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz) + { + if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) + return false; + + mx = (int)((wx - origin_x_) / resolution_); + my = (int)((wy - origin_y_) / resolution_); + mz = (int)((wz - origin_z_) / z_resolution_); + + if (mx < size_x_ && my < size_y_ && mz < size_z_) + return true; + + return false; + } + + inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz) + { + // returns the center point of the cell + wx = origin_x_ + (mx + 0.5) * resolution_; + wy = origin_y_ + (my + 0.5) * resolution_; + wz = origin_z_ + (mz + 0.5) * z_resolution_; + } + + inline double dist(double x0, double y0, double z0, double x1, double y1, double z1) + { + return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0)); + } +}; + +} // namespace costmap_2d + +#endif // COSTMAP_2D_VOXEL_LAYER_H_ diff --git a/src/navigation/costmap_2d/launch/example.launch b/src/navigation/costmap_2d/launch/example.launch new file mode 100644 index 0000000..87cd2ea --- /dev/null +++ b/src/navigation/costmap_2d/launch/example.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + diff --git a/src/navigation/costmap_2d/launch/example_params.yaml b/src/navigation/costmap_2d/launch/example_params.yaml new file mode 100644 index 0000000..783d348 --- /dev/null +++ b/src/navigation/costmap_2d/launch/example_params.yaml @@ -0,0 +1,40 @@ +global_frame: map +robot_base_frame: base_link +update_frequency: 5.0 +publish_frequency: 1.0 + +#set if you want the voxel map published +publish_voxel_map: true + +#set to true if you want to initialize the costmap from a static map +static_map: false + +#begin - COMMENT these lines if you set static_map to true +rolling_window: true +width: 6.0 +height: 6.0 +resolution: 0.025 +#end - COMMENT these lines if you set static_map to true + +#START VOXEL STUFF +map_type: voxel +origin_z: 0.0 +z_resolution: 0.2 +z_voxels: 10 +unknown_threshold: 10 +mark_threshold: 0 +#END VOXEL STUFF + +transform_tolerance: 0.3 +obstacle_range: 2.5 +max_obstacle_height: 2.0 +raytrace_range: 3.0 +footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] +#robot_radius: 0.46 +footprint_padding: 0.01 +inflation_radius: 0.55 +cost_scaling_factor: 10.0 +lethal_cost_threshold: 100 +observation_sources: base_scan +base_scan: {data_type: LaserScan, expected_update_rate: 0.4, + observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08} diff --git a/src/navigation/costmap_2d/msg/VoxelGrid.msg b/src/navigation/costmap_2d/msg/VoxelGrid.msg new file mode 100644 index 0000000..01eb573 --- /dev/null +++ b/src/navigation/costmap_2d/msg/VoxelGrid.msg @@ -0,0 +1,8 @@ +Header header +uint32[] data +geometry_msgs/Point32 origin +geometry_msgs/Vector3 resolutions +uint32 size_x +uint32 size_y +uint32 size_z + diff --git a/src/navigation/costmap_2d/package.xml b/src/navigation/costmap_2d/package.xml new file mode 100644 index 0000000..8f9bbf9 --- /dev/null +++ b/src/navigation/costmap_2d/package.xml @@ -0,0 +1,59 @@ + + + + costmap_2d + 1.17.2 + + This package provides an implementation of a 2D costmap that takes in sensor + data from the world, builds a 2D or 3D occupancy grid of the data (depending + on whether a voxel based implementation is used), and inflates costs in a + 2D costmap based on the occupancy grid and a user specified inflation radius. + This package also provides support for map_server based initialization of a + costmap, rolling window based costmaps, and parameter based subscription to + and configuration of sensor topics. + + Eitan Marder-Eppstein + David V. Lu!! + Dave Hershberger + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/costmap_2d + + catkin + + cmake_modules + message_generation + tf2_geometry_msgs + tf2_sensor_msgs + + dynamic_reconfigure + eigen + geometry_msgs + laser_geometry + map_msgs + message_filters + nav_msgs + pluginlib + roscpp + rostest + sensor_msgs + std_msgs + tf2 + tf2_ros + visualization_msgs + voxel_grid + + message_runtime + rosconsole + map_server + rosbag + rostest + rosunit + + + + + diff --git a/src/navigation/costmap_2d/plugins/inflation_layer.cpp b/src/navigation/costmap_2d/plugins/inflation_layer.cpp new file mode 100644 index 0000000..e428c4f --- /dev/null +++ b/src/navigation/costmap_2d/plugins/inflation_layer.cpp @@ -0,0 +1,385 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer) + +using costmap_2d::LETHAL_OBSTACLE; +using costmap_2d::INSCRIBED_INFLATED_OBSTACLE; +using costmap_2d::NO_INFORMATION; + +namespace costmap_2d +{ + +InflationLayer::InflationLayer() + : resolution_(0) + , inflation_radius_(0) + , inscribed_radius_(0) + , weight_(0) + , inflate_unknown_(false) + , cell_inflation_radius_(0) + , cached_cell_inflation_radius_(0) + , dsrv_(NULL) + , seen_(NULL) + , cached_costs_(NULL) + , cached_distances_(NULL) + , last_min_x_(-std::numeric_limits::max()) + , last_min_y_(-std::numeric_limits::max()) + , last_max_x_(std::numeric_limits::max()) + , last_max_y_(std::numeric_limits::max()) +{ + inflation_access_ = new boost::recursive_mutex(); +} + +void InflationLayer::onInitialize() +{ + { + boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); + ros::NodeHandle nh("~/" + name_), g_nh; + current_ = true; + if (seen_) + delete[] seen_; + seen_ = NULL; + seen_size_ = 0; + need_reinflation_ = false; + + dynamic_reconfigure::Server::CallbackType cb = boost::bind( + &InflationLayer::reconfigureCB, this, _1, _2); + + if (dsrv_ != NULL){ + dsrv_->clearCallback(); + dsrv_->setCallback(cb); + } + else + { + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~/" + name_)); + dsrv_->setCallback(cb); + } + } + + matchSize(); +} + +void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level) +{ + setInflationParameters(config.inflation_radius, config.cost_scaling_factor); + + if (enabled_ != config.enabled || inflate_unknown_ != config.inflate_unknown) { + enabled_ = config.enabled; + inflate_unknown_ = config.inflate_unknown; + need_reinflation_ = true; + } +} + +void InflationLayer::matchSize() +{ + boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); + costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap(); + resolution_ = costmap->getResolution(); + cell_inflation_radius_ = cellDistance(inflation_radius_); + computeCaches(); + + unsigned int size_x = costmap->getSizeInCellsX(), size_y = costmap->getSizeInCellsY(); + if (seen_) + delete[] seen_; + seen_size_ = size_x * size_y; + seen_ = new bool[seen_size_]; +} + +void InflationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, + double* min_y, double* max_x, double* max_y) +{ + if (need_reinflation_) + { + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + // For some reason when I make these -::max() it does not + // work with Costmap2D::worldToMapEnforceBounds(), so I'm using + // -::max() instead. + *min_x = -std::numeric_limits::max(); + *min_y = -std::numeric_limits::max(); + *max_x = std::numeric_limits::max(); + *max_y = std::numeric_limits::max(); + need_reinflation_ = false; + } + else + { + double tmp_min_x = last_min_x_; + double tmp_min_y = last_min_y_; + double tmp_max_x = last_max_x_; + double tmp_max_y = last_max_y_; + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + *min_x = std::min(tmp_min_x, *min_x) - inflation_radius_; + *min_y = std::min(tmp_min_y, *min_y) - inflation_radius_; + *max_x = std::max(tmp_max_x, *max_x) + inflation_radius_; + *max_y = std::max(tmp_max_y, *max_y) + inflation_radius_; + } +} + +void InflationLayer::onFootprintChanged() +{ + inscribed_radius_ = layered_costmap_->getInscribedRadius(); + cell_inflation_radius_ = cellDistance(inflation_radius_); + computeCaches(); + need_reinflation_ = true; + + ROS_DEBUG("InflationLayer::onFootprintChanged(): num footprint points: %lu," + " inscribed_radius_ = %.3f, inflation_radius_ = %.3f", + layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_); +} + +void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) +{ + boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); + if (cell_inflation_radius_ == 0) + return; + + // make sure the inflation list is empty at the beginning of the cycle (should always be true) + ROS_ASSERT_MSG(inflation_cells_.empty(), "The inflation list must be empty at the beginning of inflation"); + + unsigned char* master_array = master_grid.getCharMap(); + unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY(); + + if (seen_ == NULL) { + ROS_WARN("InflationLayer::updateCosts(): seen_ array is NULL"); + seen_size_ = size_x * size_y; + seen_ = new bool[seen_size_]; + } + else if (seen_size_ != size_x * size_y) + { + ROS_WARN("InflationLayer::updateCosts(): seen_ array size is wrong"); + delete[] seen_; + seen_size_ = size_x * size_y; + seen_ = new bool[seen_size_]; + } + memset(seen_, false, size_x * size_y * sizeof(bool)); + + // We need to include in the inflation cells outside the bounding + // box min_i...max_j, by the amount cell_inflation_radius_. Cells + // up to that distance outside the box can still influence the costs + // stored in cells inside the box. + min_i -= cell_inflation_radius_; + min_j -= cell_inflation_radius_; + max_i += cell_inflation_radius_; + max_j += cell_inflation_radius_; + + min_i = std::max(0, min_i); + min_j = std::max(0, min_j); + max_i = std::min(int(size_x), max_i); + max_j = std::min(int(size_y), max_j); + + // Inflation list; we append cells to visit in a list associated with its distance to the nearest obstacle + // We use a map to emulate the priority queue used before, with a notable performance boost + + // Start with lethal obstacles: by definition distance is 0.0 + std::vector& obs_bin = inflation_cells_[0.0]; + for (int j = min_j; j < max_j; j++) + { + for (int i = min_i; i < max_i; i++) + { + int index = master_grid.getIndex(i, j); + unsigned char cost = master_array[index]; + if (cost == LETHAL_OBSTACLE) + { + obs_bin.push_back(CellData(index, i, j, i, j)); + } + } + } + + // Process cells by increasing distance; new cells are appended to the corresponding distance bin, so they + // can overtake previously inserted but farther away cells + std::map >::iterator bin; + for (bin = inflation_cells_.begin(); bin != inflation_cells_.end(); ++bin) + { + for (int i = 0; i < bin->second.size(); ++i) + { + // process all cells at distance dist_bin.first + const CellData& cell = bin->second[i]; + + unsigned int index = cell.index_; + + // ignore if already visited + if (seen_[index]) + { + continue; + } + + seen_[index] = true; + + unsigned int mx = cell.x_; + unsigned int my = cell.y_; + unsigned int sx = cell.src_x_; + unsigned int sy = cell.src_y_; + + // assign the cost associated with the distance from an obstacle to the cell + unsigned char cost = costLookup(mx, my, sx, sy); + unsigned char old_cost = master_array[index]; + if (old_cost == NO_INFORMATION && (inflate_unknown_ ? (cost > FREE_SPACE) : (cost >= INSCRIBED_INFLATED_OBSTACLE))) + master_array[index] = cost; + else + master_array[index] = std::max(old_cost, cost); + + // attempt to put the neighbors of the current cell onto the inflation list + if (mx > 0) + enqueue(index - 1, mx - 1, my, sx, sy); + if (my > 0) + enqueue(index - size_x, mx, my - 1, sx, sy); + if (mx < size_x - 1) + enqueue(index + 1, mx + 1, my, sx, sy); + if (my < size_y - 1) + enqueue(index + size_x, mx, my + 1, sx, sy); + } + } + + inflation_cells_.clear(); +} + +/** + * @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation + * @param grid The costmap + * @param index The index of the cell + * @param mx The x coordinate of the cell (can be computed from the index, but saves time to store it) + * @param my The y coordinate of the cell (can be computed from the index, but saves time to store it) + * @param src_x The x index of the obstacle point inflation started at + * @param src_y The y index of the obstacle point inflation started at + */ +inline void InflationLayer::enqueue(unsigned int index, unsigned int mx, unsigned int my, + unsigned int src_x, unsigned int src_y) +{ + if (!seen_[index]) + { + // we compute our distance table one cell further than the inflation radius dictates so we can make the check below + double distance = distanceLookup(mx, my, src_x, src_y); + + // we only want to put the cell in the list if it is within the inflation radius of the obstacle point + if (distance > cell_inflation_radius_) + return; + + // push the cell data onto the inflation list and mark + inflation_cells_[distance].push_back(CellData(index, mx, my, src_x, src_y)); + } +} + +void InflationLayer::computeCaches() +{ + if (cell_inflation_radius_ == 0) + return; + + // based on the inflation radius... compute distance and cost caches + if (cell_inflation_radius_ != cached_cell_inflation_radius_) + { + deleteKernels(); + + cached_costs_ = new unsigned char*[cell_inflation_radius_ + 2]; + cached_distances_ = new double*[cell_inflation_radius_ + 2]; + + for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i) + { + cached_costs_[i] = new unsigned char[cell_inflation_radius_ + 2]; + cached_distances_[i] = new double[cell_inflation_radius_ + 2]; + for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j) + { + cached_distances_[i][j] = hypot(i, j); + } + } + + cached_cell_inflation_radius_ = cell_inflation_radius_; + } + + for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i) + { + for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j) + { + cached_costs_[i][j] = computeCost(cached_distances_[i][j]); + } + } +} + +void InflationLayer::deleteKernels() +{ + if (cached_distances_ != NULL) + { + for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i) + { + if (cached_distances_[i]) + delete[] cached_distances_[i]; + } + if (cached_distances_) + delete[] cached_distances_; + cached_distances_ = NULL; + } + + if (cached_costs_ != NULL) + { + for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i) + { + if (cached_costs_[i]) + delete[] cached_costs_[i]; + } + delete[] cached_costs_; + cached_costs_ = NULL; + } +} + +void InflationLayer::setInflationParameters(double inflation_radius, double cost_scaling_factor) +{ + if (weight_ != cost_scaling_factor || inflation_radius_ != inflation_radius) + { + // Lock here so that reconfiguring the inflation radius doesn't cause segfaults + // when accessing the cached arrays + boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); + + inflation_radius_ = inflation_radius; + cell_inflation_radius_ = cellDistance(inflation_radius_); + weight_ = cost_scaling_factor; + need_reinflation_ = true; + computeCaches(); + } +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/plugins/obstacle_layer.cpp b/src/navigation/costmap_2d/plugins/obstacle_layer.cpp new file mode 100644 index 0000000..2bcdecd --- /dev/null +++ b/src/navigation/costmap_2d/plugins/obstacle_layer.cpp @@ -0,0 +1,625 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include + +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer) + +using costmap_2d::NO_INFORMATION; +using costmap_2d::LETHAL_OBSTACLE; +using costmap_2d::FREE_SPACE; + +using costmap_2d::ObservationBuffer; +using costmap_2d::Observation; + +namespace costmap_2d +{ + +void ObstacleLayer::onInitialize() +{ + ros::NodeHandle nh("~/" + name_), g_nh; + rolling_window_ = layered_costmap_->isRolling(); + + bool track_unknown_space; + nh.param("track_unknown_space", track_unknown_space, layered_costmap_->isTrackingUnknown()); + if (track_unknown_space) + default_value_ = NO_INFORMATION; + else + default_value_ = FREE_SPACE; + + ObstacleLayer::matchSize(); + current_ = true; + + global_frame_ = layered_costmap_->getGlobalFrameID(); + double transform_tolerance; + nh.param("transform_tolerance", transform_tolerance, 0.2); + + std::string topics_string; + // get the topics that we'll subscribe to from the parameter server + nh.param("observation_sources", topics_string, std::string("")); + ROS_INFO(" Subscribed to Topics: %s", topics_string.c_str()); + + // now we need to split the topics based on whitespace which we can use a stringstream for + std::stringstream ss(topics_string); + + std::string source; + while (ss >> source) + { + ros::NodeHandle source_node(nh, source); + + // get the parameters for the specific topic + double observation_keep_time, expected_update_rate, min_obstacle_height, max_obstacle_height; + std::string topic, sensor_frame, data_type; + bool inf_is_valid, clearing, marking; + + source_node.param("topic", topic, source); + source_node.param("sensor_frame", sensor_frame, std::string("")); + source_node.param("observation_persistence", observation_keep_time, 0.0); + source_node.param("expected_update_rate", expected_update_rate, 0.0); + source_node.param("data_type", data_type, std::string("PointCloud")); + source_node.param("min_obstacle_height", min_obstacle_height, 0.0); + source_node.param("max_obstacle_height", max_obstacle_height, 2.0); + source_node.param("inf_is_valid", inf_is_valid, false); + source_node.param("clearing", clearing, false); + source_node.param("marking", marking, true); + + if (!(data_type == "PointCloud2" || data_type == "PointCloud" || data_type == "LaserScan")) + { + ROS_FATAL("Only topics that use point clouds or laser scans are currently supported"); + throw std::runtime_error("Only topics that use point clouds or laser scans are currently supported"); + } + + std::string raytrace_range_param_name, obstacle_range_param_name; + + // get the obstacle range for the sensor + double obstacle_range = 2.5; + if (source_node.searchParam("obstacle_range", obstacle_range_param_name)) + { + source_node.getParam(obstacle_range_param_name, obstacle_range); + } + + // get the raytrace range for the sensor + double raytrace_range = 3.0; + if (source_node.searchParam("raytrace_range", raytrace_range_param_name)) + { + source_node.getParam(raytrace_range_param_name, raytrace_range); + } + + ROS_DEBUG("Creating an observation buffer for source %s, topic %s, frame %s", source.c_str(), topic.c_str(), + sensor_frame.c_str()); + + // create an observation buffer + observation_buffers_.push_back( + boost::shared_ptr < ObservationBuffer + > (new ObservationBuffer(topic, observation_keep_time, expected_update_rate, min_obstacle_height, + max_obstacle_height, obstacle_range, raytrace_range, *tf_, global_frame_, + sensor_frame, transform_tolerance))); + + // check if we'll add this buffer to our marking observation buffers + if (marking) + marking_buffers_.push_back(observation_buffers_.back()); + + // check if we'll also add this buffer to our clearing observation buffers + if (clearing) + clearing_buffers_.push_back(observation_buffers_.back()); + + ROS_DEBUG( + "Created an observation buffer for source %s, topic %s, global frame: %s, " + "expected update rate: %.2f, observation persistence: %.2f", + source.c_str(), topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time); + + // create a callback for the topic + if (data_type == "LaserScan") + { + boost::shared_ptr < message_filters::Subscriber + > sub(new message_filters::Subscriber(g_nh, topic, 50)); + + boost::shared_ptr > filter( + new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); + + if (inf_is_valid) + { + filter->registerCallback(boost::bind(&ObstacleLayer::laserScanValidInfCallback, this, _1, + observation_buffers_.back())); + } + else + { + filter->registerCallback(boost::bind(&ObstacleLayer::laserScanCallback, this, _1, observation_buffers_.back())); + } + + observation_subscribers_.push_back(sub); + observation_notifiers_.push_back(filter); + + observation_notifiers_.back()->setTolerance(ros::Duration(0.05)); + } + else if (data_type == "PointCloud") + { + boost::shared_ptr < message_filters::Subscriber + > sub(new message_filters::Subscriber(g_nh, topic, 50)); + + if (inf_is_valid) + { + ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations."); + } + + boost::shared_ptr < tf2_ros::MessageFilter + > filter(new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); + filter->registerCallback( + boost::bind(&ObstacleLayer::pointCloudCallback, this, _1, observation_buffers_.back())); + + observation_subscribers_.push_back(sub); + observation_notifiers_.push_back(filter); + } + else + { + boost::shared_ptr < message_filters::Subscriber + > sub(new message_filters::Subscriber(g_nh, topic, 50)); + + if (inf_is_valid) + { + ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations."); + } + + boost::shared_ptr < tf2_ros::MessageFilter + > filter(new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); + filter->registerCallback( + boost::bind(&ObstacleLayer::pointCloud2Callback, this, _1, observation_buffers_.back())); + + observation_subscribers_.push_back(sub); + observation_notifiers_.push_back(filter); + } + + if (sensor_frame != "") + { + std::vector < std::string > target_frames; + target_frames.push_back(global_frame_); + target_frames.push_back(sensor_frame); + observation_notifiers_.back()->setTargetFrames(target_frames); + } + } + + dsrv_ = NULL; + setupDynamicReconfigure(nh); +} + +void ObstacleLayer::setupDynamicReconfigure(ros::NodeHandle& nh) +{ + dsrv_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind( + &ObstacleLayer::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); +} + +ObstacleLayer::~ObstacleLayer() +{ + if (dsrv_) + delete dsrv_; +} +void ObstacleLayer::reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level) +{ + enabled_ = config.enabled; + footprint_clearing_enabled_ = config.footprint_clearing_enabled; + max_obstacle_height_ = config.max_obstacle_height; + combination_method_ = config.combination_method; +} + +void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message, + const boost::shared_ptr& buffer) +{ + // project the laser into a point cloud + sensor_msgs::PointCloud2 cloud; + cloud.header = message->header; + + // project the scan into a point cloud + try + { + projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, *tf_); + } + catch (tf2::TransformException &ex) + { + ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s", global_frame_.c_str(), + ex.what()); + projector_.projectLaser(*message, cloud); + } + catch (std::runtime_error &ex) + { + ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what()); + return; //ignore this message + } + + // buffer the point cloud + buffer->lock(); + buffer->bufferCloud(cloud); + buffer->unlock(); +} + +void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& raw_message, + const boost::shared_ptr& buffer) +{ + // Filter positive infinities ("Inf"s) to max_range. + float epsilon = 0.0001; // a tenth of a millimeter + sensor_msgs::LaserScan message = *raw_message; + for (size_t i = 0; i < message.ranges.size(); i++) + { + float range = message.ranges[ i ]; + if (!std::isfinite(range) && range > 0) + { + message.ranges[ i ] = message.range_max - epsilon; + } + } + + // project the laser into a point cloud + sensor_msgs::PointCloud2 cloud; + cloud.header = message.header; + + // project the scan into a point cloud + try + { + projector_.transformLaserScanToPointCloud(message.header.frame_id, message, cloud, *tf_); + } + catch (tf2::TransformException &ex) + { + ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s", + global_frame_.c_str(), ex.what()); + projector_.projectLaser(message, cloud); + } + catch (std::runtime_error &ex) + { + ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what()); + return; //ignore this message + } + + // buffer the point cloud + buffer->lock(); + buffer->bufferCloud(cloud); + buffer->unlock(); +} + +void ObstacleLayer::pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message, + const boost::shared_ptr& buffer) +{ + sensor_msgs::PointCloud2 cloud2; + + if (!sensor_msgs::convertPointCloudToPointCloud2(*message, cloud2)) + { + ROS_ERROR("Failed to convert a PointCloud to a PointCloud2, dropping message"); + return; + } + + // buffer the point cloud + buffer->lock(); + buffer->bufferCloud(cloud2); + buffer->unlock(); +} + +void ObstacleLayer::pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message, + const boost::shared_ptr& buffer) +{ + // buffer the point cloud + buffer->lock(); + buffer->bufferCloud(*message); + buffer->unlock(); +} + +void ObstacleLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, + double* min_y, double* max_x, double* max_y) +{ + if (rolling_window_) + updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2); + useExtraBounds(min_x, min_y, max_x, max_y); + + bool current = true; + std::vector observations, clearing_observations; + + // get the marking observations + current = current && getMarkingObservations(observations); + + // get the clearing observations + current = current && getClearingObservations(clearing_observations); + + // update the global current status + current_ = current; + + // raytrace freespace + for (unsigned int i = 0; i < clearing_observations.size(); ++i) + { + raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y); + } + + // place the new obstacles into a priority queue... each with a priority of zero to begin with + for (std::vector::const_iterator it = observations.begin(); it != observations.end(); ++it) + { + const Observation& obs = *it; + + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_; + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + for (; iter_x !=iter_x.end(); ++iter_x, ++iter_y, ++iter_z) + { + double px = *iter_x, py = *iter_y, pz = *iter_z; + + // if the obstacle is too high or too far away from the robot we won't add it + if (pz > max_obstacle_height_) + { + ROS_DEBUG("The point is too high"); + continue; + } + + // compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (px - obs.origin_.x) * (px - obs.origin_.x) + (py - obs.origin_.y) * (py - obs.origin_.y) + + (pz - obs.origin_.z) * (pz - obs.origin_.z); + + // if the point is far enough away... we won't consider it + if (sq_dist >= sq_obstacle_range) + { + ROS_DEBUG("The point is too far away"); + continue; + } + + // now we need to compute the map coordinates for the observation + unsigned int mx, my; + if (!worldToMap(px, py, mx, my)) + { + ROS_DEBUG("Computing map coords failed"); + continue; + } + + unsigned int index = getIndex(mx, my); + costmap_[index] = LETHAL_OBSTACLE; + touch(px, py, min_x, min_y, max_x, max_y); + } + } + + updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y); +} + +void ObstacleLayer::updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y) +{ + if (!footprint_clearing_enabled_) return; + transformFootprint(robot_x, robot_y, robot_yaw, getFootprint(), transformed_footprint_); + + for (unsigned int i = 0; i < transformed_footprint_.size(); i++) + { + touch(transformed_footprint_[i].x, transformed_footprint_[i].y, min_x, min_y, max_x, max_y); + } +} + +void ObstacleLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) +{ + if (footprint_clearing_enabled_) + { + setConvexPolygonCost(transformed_footprint_, costmap_2d::FREE_SPACE); + } + + switch (combination_method_) + { + case 0: // Overwrite + updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j); + break; + case 1: // Maximum + updateWithMax(master_grid, min_i, min_j, max_i, max_j); + break; + default: // Nothing + break; + } +} + +void ObstacleLayer::addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing) +{ + if (marking) + static_marking_observations_.push_back(obs); + if (clearing) + static_clearing_observations_.push_back(obs); +} + +void ObstacleLayer::clearStaticObservations(bool marking, bool clearing) +{ + if (marking) + static_marking_observations_.clear(); + if (clearing) + static_clearing_observations_.clear(); +} + +bool ObstacleLayer::getMarkingObservations(std::vector& marking_observations) const +{ + bool current = true; + // get the marking observations + for (unsigned int i = 0; i < marking_buffers_.size(); ++i) + { + marking_buffers_[i]->lock(); + marking_buffers_[i]->getObservations(marking_observations); + current = marking_buffers_[i]->isCurrent() && current; + marking_buffers_[i]->unlock(); + } + marking_observations.insert(marking_observations.end(), + static_marking_observations_.begin(), static_marking_observations_.end()); + return current; +} + +bool ObstacleLayer::getClearingObservations(std::vector& clearing_observations) const +{ + bool current = true; + // get the clearing observations + for (unsigned int i = 0; i < clearing_buffers_.size(); ++i) + { + clearing_buffers_[i]->lock(); + clearing_buffers_[i]->getObservations(clearing_observations); + current = clearing_buffers_[i]->isCurrent() && current; + clearing_buffers_[i]->unlock(); + } + clearing_observations.insert(clearing_observations.end(), + static_clearing_observations_.begin(), static_clearing_observations_.end()); + return current; +} + +void ObstacleLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y, + double* max_x, double* max_y) +{ + double ox = clearing_observation.origin_.x; + double oy = clearing_observation.origin_.y; + const sensor_msgs::PointCloud2 &cloud = *(clearing_observation.cloud_); + + // get the map coordinates of the origin of the sensor + unsigned int x0, y0; + if (!worldToMap(ox, oy, x0, y0)) + { + ROS_WARN_THROTTLE( + 1.0, "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.", + ox, oy); + return; + } + + // we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later + double origin_x = origin_x_, origin_y = origin_y_; + double map_end_x = origin_x + size_x_ * resolution_; + double map_end_y = origin_y + size_y_ * resolution_; + + + touch(ox, oy, min_x, min_y, max_x, max_y); + + // for each point in the cloud, we want to trace a line from the origin and clear obstacles along it + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y) + { + double wx = *iter_x; + double wy = *iter_y; + + // now we also need to make sure that the enpoint we're raytracing + // to isn't off the costmap and scale if necessary + double a = wx - ox; + double b = wy - oy; + + // the minimum value to raytrace from is the origin + if (wx < origin_x) + { + double t = (origin_x - ox) / a; + wx = origin_x; + wy = oy + b * t; + } + if (wy < origin_y) + { + double t = (origin_y - oy) / b; + wx = ox + a * t; + wy = origin_y; + } + + // the maximum value to raytrace to is the end of the map + if (wx > map_end_x) + { + double t = (map_end_x - ox) / a; + wx = map_end_x - .001; + wy = oy + b * t; + } + if (wy > map_end_y) + { + double t = (map_end_y - oy) / b; + wx = ox + a * t; + wy = map_end_y - .001; + } + + // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint + unsigned int x1, y1; + + // check for legality just in case + if (!worldToMap(wx, wy, x1, y1)) + continue; + + unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_); + MarkCell marker(costmap_, FREE_SPACE); + // and finally... we can execute our trace to clear obstacles along that line + raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range); + + updateRaytraceBounds(ox, oy, wx, wy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y); + } +} + +void ObstacleLayer::activate() +{ + // if we're stopped we need to re-subscribe to topics + for (unsigned int i = 0; i < observation_subscribers_.size(); ++i) + { + if (observation_subscribers_[i] != NULL) + observation_subscribers_[i]->subscribe(); + } + + for (unsigned int i = 0; i < observation_buffers_.size(); ++i) + { + if (observation_buffers_[i]) + observation_buffers_[i]->resetLastUpdated(); + } +} +void ObstacleLayer::deactivate() +{ + for (unsigned int i = 0; i < observation_subscribers_.size(); ++i) + { + if (observation_subscribers_[i] != NULL) + observation_subscribers_[i]->unsubscribe(); + } +} + +void ObstacleLayer::updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, + double* min_x, double* min_y, double* max_x, double* max_y) +{ + double dx = wx-ox, dy = wy-oy; + double full_distance = hypot(dx, dy); + double scale = std::min(1.0, range / full_distance); + double ex = ox + dx * scale, ey = oy + dy * scale; + touch(ex, ey, min_x, min_y, max_x, max_y); +} + +void ObstacleLayer::reset() +{ + deactivate(); + resetMaps(); + current_ = true; + activate(); +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/plugins/static_layer.cpp b/src/navigation/costmap_2d/plugins/static_layer.cpp new file mode 100644 index 0000000..f6ea332 --- /dev/null +++ b/src/navigation/costmap_2d/plugins/static_layer.cpp @@ -0,0 +1,348 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * Copyright (c) 2015, Fetch Robotics, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer) + +using costmap_2d::NO_INFORMATION; +using costmap_2d::LETHAL_OBSTACLE; +using costmap_2d::FREE_SPACE; + +namespace costmap_2d +{ + +StaticLayer::StaticLayer() : dsrv_(NULL) {} + +StaticLayer::~StaticLayer() +{ + if (dsrv_) + delete dsrv_; +} + +void StaticLayer::onInitialize() +{ + ros::NodeHandle nh("~/" + name_), g_nh; + current_ = true; + + global_frame_ = layered_costmap_->getGlobalFrameID(); + + std::string map_topic; + nh.param("map_topic", map_topic, std::string("map")); + nh.param("first_map_only", first_map_only_, false); + nh.param("subscribe_to_updates", subscribe_to_updates_, false); + + nh.param("track_unknown_space", track_unknown_space_, true); + nh.param("use_maximum", use_maximum_, false); + + int temp_lethal_threshold, temp_unknown_cost_value; + nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100)); + nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1)); + nh.param("trinary_costmap", trinary_costmap_, true); + + lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0); + unknown_cost_value_ = temp_unknown_cost_value; + + // Only resubscribe if topic has changed + if (map_sub_.getTopic() != ros::names::resolve(map_topic)) + { + // we'll subscribe to the latched topic that the map server uses + ROS_INFO("Requesting the map..."); + map_sub_ = g_nh.subscribe(map_topic, 1, &StaticLayer::incomingMap, this); + map_received_ = false; + has_updated_data_ = false; + + ros::Rate r(10); + while (!map_received_ && g_nh.ok()) + { + ros::spinOnce(); + r.sleep(); + } + + ROS_INFO("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution()); + + if (subscribe_to_updates_) + { + ROS_INFO("Subscribing to updates"); + map_update_sub_ = g_nh.subscribe(map_topic + "_updates", 10, &StaticLayer::incomingUpdate, this); + + } + } + else + { + has_updated_data_ = true; + } + + if (dsrv_) + { + delete dsrv_; + } + + dsrv_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind( + &StaticLayer::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); +} + +void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level) +{ + if (config.enabled != enabled_) + { + enabled_ = config.enabled; + has_updated_data_ = true; + x_ = y_ = 0; + width_ = size_x_; + height_ = size_y_; + } +} + +void StaticLayer::matchSize() +{ + // If we are using rolling costmap, the static map size is + // unrelated to the size of the layered costmap + if (!layered_costmap_->isRolling()) + { + Costmap2D* master = layered_costmap_->getCostmap(); + resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(), + master->getOriginX(), master->getOriginY()); + } +} + +unsigned char StaticLayer::interpretValue(unsigned char value) +{ + // check if the static value is above the unknown or lethal thresholds + if (track_unknown_space_ && value == unknown_cost_value_) + return NO_INFORMATION; + else if (!track_unknown_space_ && value == unknown_cost_value_) + return FREE_SPACE; + else if (value >= lethal_threshold_) + return LETHAL_OBSTACLE; + else if (trinary_costmap_) + return FREE_SPACE; + + double scale = (double) value / lethal_threshold_; + return scale * LETHAL_OBSTACLE; +} + +void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map) +{ + unsigned int size_x = new_map->info.width, size_y = new_map->info.height; + + ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x, size_y, new_map->info.resolution); + + // resize costmap if size, resolution or origin do not match + Costmap2D* master = layered_costmap_->getCostmap(); + if (!layered_costmap_->isRolling() && + (master->getSizeInCellsX() != size_x || + master->getSizeInCellsY() != size_y || + master->getResolution() != new_map->info.resolution || + master->getOriginX() != new_map->info.origin.position.x || + master->getOriginY() != new_map->info.origin.position.y)) + { + // Update the size of the layered costmap (and all layers, including this one) + ROS_INFO("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution); + layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution, new_map->info.origin.position.x, + new_map->info.origin.position.y, + true /* set size_locked to true, prevents reconfigureCb from overriding map size*/); + } + else if (size_x_ != size_x || size_y_ != size_y || + resolution_ != new_map->info.resolution || + origin_x_ != new_map->info.origin.position.x || + origin_y_ != new_map->info.origin.position.y) + { + // only update the size of the costmap stored locally in this layer + ROS_INFO("Resizing static layer to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution); + resizeMap(size_x, size_y, new_map->info.resolution, + new_map->info.origin.position.x, new_map->info.origin.position.y); + } + + unsigned int index = 0; + + // initialize the costmap with static data + for (unsigned int i = 0; i < size_y; ++i) + { + for (unsigned int j = 0; j < size_x; ++j) + { + unsigned char value = new_map->data[index]; + costmap_[index] = interpretValue(value); + ++index; + } + } + map_frame_ = new_map->header.frame_id; + + // we have a new map, update full size of map + x_ = y_ = 0; + width_ = size_x_; + height_ = size_y_; + map_received_ = true; + has_updated_data_ = true; + + // shutdown the map subscrber if firt_map_only_ flag is on + if (first_map_only_) + { + ROS_INFO("Shutting down the map subscriber. first_map_only flag is on"); + map_sub_.shutdown(); + } +} + +void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update) +{ + unsigned int di = 0; + for (unsigned int y = 0; y < update->height ; y++) + { + unsigned int index_base = (update->y + y) * size_x_; + for (unsigned int x = 0; x < update->width ; x++) + { + unsigned int index = index_base + x + update->x; + costmap_[index] = interpretValue(update->data[di++]); + } + } + x_ = update->x; + y_ = update->y; + width_ = update->width; + height_ = update->height; + has_updated_data_ = true; +} + +void StaticLayer::activate() +{ + onInitialize(); +} + +void StaticLayer::deactivate() +{ + map_sub_.shutdown(); + if (subscribe_to_updates_) + map_update_sub_.shutdown(); +} + +void StaticLayer::reset() +{ + if (first_map_only_) + { + has_updated_data_ = true; + } + else + { + onInitialize(); + } +} + +void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y) +{ + + if( !layered_costmap_->isRolling() ){ + if (!map_received_ || !(has_updated_data_ || has_extra_bounds_)) + return; + } + + useExtraBounds(min_x, min_y, max_x, max_y); + + double wx, wy; + + mapToWorld(x_, y_, wx, wy); + *min_x = std::min(wx, *min_x); + *min_y = std::min(wy, *min_y); + + mapToWorld(x_ + width_, y_ + height_, wx, wy); + *max_x = std::max(wx, *max_x); + *max_y = std::max(wy, *max_y); + + has_updated_data_ = false; +} + +void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) +{ + if (!map_received_) + return; + + if (!layered_costmap_->isRolling()) + { + // if not rolling, the layered costmap (master_grid) has same coordinates as this layer + if (!use_maximum_) + updateWithTrueOverwrite(master_grid, min_i, min_j, max_i, max_j); + else + updateWithMax(master_grid, min_i, min_j, max_i, max_j); + } + else + { + // If rolling window, the master_grid is unlikely to have same coordinates as this layer + unsigned int mx, my; + double wx, wy; + // Might even be in a different frame + geometry_msgs::TransformStamped transform; + try + { + transform = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0)); + } + catch (tf2::TransformException ex) + { + ROS_ERROR("%s", ex.what()); + return; + } + // Copy map data given proper transformations + tf2::Transform tf2_transform; + tf2::convert(transform.transform, tf2_transform); + for (unsigned int i = min_i; i < max_i; ++i) + { + for (unsigned int j = min_j; j < max_j; ++j) + { + // Convert master_grid coordinates (i,j) into global_frame_(wx,wy) coordinates + layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy); + // Transform from global_frame_ to map_frame_ + tf2::Vector3 p(wx, wy, 0); + p = tf2_transform*p; + // Set master_grid with cell from map + if (worldToMap(p.x(), p.y(), mx, my)) + { + if (!use_maximum_) + master_grid.setCost(i, j, getCost(mx, my)); + else + master_grid.setCost(i, j, std::max(getCost(mx, my), master_grid.getCost(i, j))); + } + } + } + } +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/plugins/voxel_layer.cpp b/src/navigation/costmap_2d/plugins/voxel_layer.cpp new file mode 100644 index 0000000..eca7a32 --- /dev/null +++ b/src/navigation/costmap_2d/plugins/voxel_layer.cpp @@ -0,0 +1,449 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include + +#define VOXEL_BITS 16 +PLUGINLIB_EXPORT_CLASS(costmap_2d::VoxelLayer, costmap_2d::Layer) + +using costmap_2d::NO_INFORMATION; +using costmap_2d::LETHAL_OBSTACLE; +using costmap_2d::FREE_SPACE; + +using costmap_2d::ObservationBuffer; +using costmap_2d::Observation; + +namespace costmap_2d +{ + +void VoxelLayer::onInitialize() +{ + ObstacleLayer::onInitialize(); + ros::NodeHandle private_nh("~/" + name_); + + private_nh.param("publish_voxel_map", publish_voxel_, false); + if (publish_voxel_) + voxel_pub_ = private_nh.advertise < costmap_2d::VoxelGrid > ("voxel_grid", 1); + + clearing_endpoints_pub_ = private_nh.advertise("clearing_endpoints", 1); +} + +void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh) +{ + voxel_dsrv_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind( + &VoxelLayer::reconfigureCB, this, _1, _2); + voxel_dsrv_->setCallback(cb); +} + +VoxelLayer::~VoxelLayer() +{ + if (voxel_dsrv_) + delete voxel_dsrv_; +} + +void VoxelLayer::reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level) +{ + enabled_ = config.enabled; + footprint_clearing_enabled_ = config.footprint_clearing_enabled; + max_obstacle_height_ = config.max_obstacle_height; + size_z_ = config.z_voxels; + origin_z_ = config.origin_z; + z_resolution_ = config.z_resolution; + unknown_threshold_ = config.unknown_threshold + (VOXEL_BITS - size_z_); + mark_threshold_ = config.mark_threshold; + combination_method_ = config.combination_method; + matchSize(); +} + +void VoxelLayer::matchSize() +{ + ObstacleLayer::matchSize(); + voxel_grid_.resize(size_x_, size_y_, size_z_); + ROS_ASSERT(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_); +} + +void VoxelLayer::reset() +{ + deactivate(); + resetMaps(); + voxel_grid_.reset(); + activate(); +} + +void VoxelLayer::resetMaps() +{ + Costmap2D::resetMaps(); + voxel_grid_.reset(); +} + +void VoxelLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, + double* min_y, double* max_x, double* max_y) +{ + if (rolling_window_) + updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2); + useExtraBounds(min_x, min_y, max_x, max_y); + + bool current = true; + std::vector observations, clearing_observations; + + // get the marking observations + current = getMarkingObservations(observations) && current; + + // get the clearing observations + current = getClearingObservations(clearing_observations) && current; + + // update the global current status + current_ = current; + + // raytrace freespace + for (unsigned int i = 0; i < clearing_observations.size(); ++i) + { + raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y); + } + + // place the new obstacles into a priority queue... each with a priority of zero to begin with + for (std::vector::const_iterator it = observations.begin(); it != observations.end(); ++it) + { + const Observation& obs = *it; + + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_; + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + for (unsigned int i = 0; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) + { + // if the obstacle is too high or too far away from the robot we won't add it + if (*iter_z > max_obstacle_height_) + continue; + + // compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x) + + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y) + + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z); + + // if the point is far enough away... we won't consider it + if (sq_dist >= sq_obstacle_range) + continue; + + // now we need to compute the map coordinates for the observation + unsigned int mx, my, mz; + if (*iter_z < origin_z_) + { + if (!worldToMap3D(*iter_x, *iter_y, origin_z_, mx, my, mz)) + continue; + } + else if (!worldToMap3D(*iter_x, *iter_y, *iter_z, mx, my, mz)) + { + continue; + } + + // mark the cell in the voxel grid and check if we should also mark it in the costmap + if (voxel_grid_.markVoxelInMap(mx, my, mz, mark_threshold_)) + { + unsigned int index = getIndex(mx, my); + + costmap_[index] = LETHAL_OBSTACLE; + touch(double(*iter_x), double(*iter_y), min_x, min_y, max_x, max_y); + } + } + } + + if (publish_voxel_) + { + costmap_2d::VoxelGrid grid_msg; + unsigned int size = voxel_grid_.sizeX() * voxel_grid_.sizeY(); + grid_msg.size_x = voxel_grid_.sizeX(); + grid_msg.size_y = voxel_grid_.sizeY(); + grid_msg.size_z = voxel_grid_.sizeZ(); + grid_msg.data.resize(size); + memcpy(&grid_msg.data[0], voxel_grid_.getData(), size * sizeof(unsigned int)); + + grid_msg.origin.x = origin_x_; + grid_msg.origin.y = origin_y_; + grid_msg.origin.z = origin_z_; + + grid_msg.resolutions.x = resolution_; + grid_msg.resolutions.y = resolution_; + grid_msg.resolutions.z = z_resolution_; + grid_msg.header.frame_id = global_frame_; + grid_msg.header.stamp = ros::Time::now(); + voxel_pub_.publish(grid_msg); + } + + updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y); +} + +void VoxelLayer::clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info) +{ + // get the cell coordinates of the center point of the window + unsigned int mx, my; + if (!worldToMap(wx, wy, mx, my)) + return; + + // compute the bounds of the window + double start_x = wx - w_size_x / 2; + double start_y = wy - w_size_y / 2; + double end_x = start_x + w_size_x; + double end_y = start_y + w_size_y; + + // scale the window based on the bounds of the costmap + start_x = std::max(origin_x_, start_x); + start_y = std::max(origin_y_, start_y); + + end_x = std::min(origin_x_ + getSizeInMetersX(), end_x); + end_y = std::min(origin_y_ + getSizeInMetersY(), end_y); + + // get the map coordinates of the bounds of the window + unsigned int map_sx, map_sy, map_ex, map_ey; + + // check for legality just in case + if (!worldToMap(start_x, start_y, map_sx, map_sy) || !worldToMap(end_x, end_y, map_ex, map_ey)) + return; + + // we know that we want to clear all non-lethal obstacles in this window to get it ready for inflation + unsigned int index = getIndex(map_sx, map_sy); + unsigned char* current = &costmap_[index]; + for (unsigned int j = map_sy; j <= map_ey; ++j) + { + for (unsigned int i = map_sx; i <= map_ex; ++i) + { + // if the cell is a lethal obstacle... we'll keep it and queue it, otherwise... we'll clear it + if (*current != LETHAL_OBSTACLE) + { + if (clear_no_info || *current != NO_INFORMATION) + { + *current = FREE_SPACE; + voxel_grid_.clearVoxelColumn(index); + } + } + current++; + index++; + } + current += size_x_ - (map_ex - map_sx) - 1; + index += size_x_ - (map_ex - map_sx) - 1; + } +} + +void VoxelLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y, + double* max_x, double* max_y) +{ + size_t clearing_observation_cloud_size = clearing_observation.cloud_->height * clearing_observation.cloud_->width; + if (clearing_observation_cloud_size == 0) + return; + + double sensor_x, sensor_y, sensor_z; + double ox = clearing_observation.origin_.x; + double oy = clearing_observation.origin_.y; + double oz = clearing_observation.origin_.z; + + if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z)) + { + ROS_WARN_THROTTLE( + 1.0, + "The origin for the sensor at (%.2f, %.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.", + ox, oy, oz); + return; + } + + bool publish_clearing_points = (clearing_endpoints_pub_.getNumSubscribers() > 0); + if (publish_clearing_points) + { + clearing_endpoints_.points.clear(); + clearing_endpoints_.points.reserve(clearing_observation_cloud_size); + } + + // we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later + double map_end_x = origin_x_ + getSizeInMetersX(); + double map_end_y = origin_y_ + getSizeInMetersY(); + + sensor_msgs::PointCloud2ConstIterator iter_x(*(clearing_observation.cloud_), "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(*(clearing_observation.cloud_), "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(*(clearing_observation.cloud_), "z"); + + for (;iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) + { + double wpx = *iter_x; + double wpy = *iter_y; + double wpz = *iter_z; + + double distance = dist(ox, oy, oz, wpx, wpy, wpz); + double scaling_fact = 1.0; + scaling_fact = std::max(std::min(scaling_fact, (distance - 2 * resolution_) / distance), 0.0); + wpx = scaling_fact * (wpx - ox) + ox; + wpy = scaling_fact * (wpy - oy) + oy; + wpz = scaling_fact * (wpz - oz) + oz; + + double a = wpx - ox; + double b = wpy - oy; + double c = wpz - oz; + double t = 1.0; + + // we can only raytrace to a maximum z height + if (wpz > max_obstacle_height_) + { + // we know we want the vector's z value to be max_z + t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c)); + } + // and we can only raytrace down to the floor + else if (wpz < origin_z_) + { + // we know we want the vector's z value to be 0.0 + t = std::min(t, (origin_z_ - oz) / c); + } + + // the minimum value to raytrace from is the origin + if (wpx < origin_x_) + { + t = std::min(t, (origin_x_ - ox) / a); + } + if (wpy < origin_y_) + { + t = std::min(t, (origin_y_ - oy) / b); + } + + // the maximum value to raytrace to is the end of the map + if (wpx > map_end_x) + { + t = std::min(t, (map_end_x - ox) / a); + } + if (wpy > map_end_y) + { + t = std::min(t, (map_end_y - oy) / b); + } + + wpx = ox + a * t; + wpy = oy + b * t; + wpz = oz + c * t; + + double point_x, point_y, point_z; + if (worldToMap3DFloat(wpx, wpy, wpz, point_x, point_y, point_z)) + { + unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_); + + // voxel_grid_.markVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z); + voxel_grid_.clearVoxelLineInMap(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z, costmap_, + unknown_threshold_, mark_threshold_, FREE_SPACE, NO_INFORMATION, + cell_raytrace_range); + + updateRaytraceBounds(ox, oy, wpx, wpy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y); + + if (publish_clearing_points) + { + geometry_msgs::Point32 point; + point.x = wpx; + point.y = wpy; + point.z = wpz; + clearing_endpoints_.points.push_back(point); + } + } + } + + if (publish_clearing_points) + { + clearing_endpoints_.header.frame_id = global_frame_; + clearing_endpoints_.header.stamp = clearing_observation.cloud_->header.stamp; + clearing_endpoints_.header.seq = clearing_observation.cloud_->header.seq; + + clearing_endpoints_pub_.publish(clearing_endpoints_); + } +} + +void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y) +{ + // project the new origin into the grid + int cell_ox, cell_oy; + cell_ox = int((new_origin_x - origin_x_) / resolution_); + cell_oy = int((new_origin_y - origin_y_) / resolution_); + + // compute the associated world coordinates for the origin cell + // beacuase we want to keep things grid-aligned + double new_grid_ox, new_grid_oy; + new_grid_ox = origin_x_ + cell_ox * resolution_; + new_grid_oy = origin_y_ + cell_oy * resolution_; + + // To save casting from unsigned int to int a bunch of times + int size_x = size_x_; + int size_y = size_y_; + + // we need to compute the overlap of the new and existing windows + int lower_left_x, lower_left_y, upper_right_x, upper_right_y; + lower_left_x = std::min(std::max(cell_ox, 0), size_x); + lower_left_y = std::min(std::max(cell_oy, 0), size_y); + upper_right_x = std::min(std::max(cell_ox + size_x, 0), size_x); + upper_right_y = std::min(std::max(cell_oy + size_y, 0), size_y); + + unsigned int cell_size_x = upper_right_x - lower_left_x; + unsigned int cell_size_y = upper_right_y - lower_left_y; + + // we need a map to store the obstacles in the window temporarily + unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y]; + unsigned int* local_voxel_map = new unsigned int[cell_size_x * cell_size_y]; + unsigned int* voxel_map = voxel_grid_.getData(); + + // copy the local window in the costmap to the local map + copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y); + copyMapRegion(voxel_map, lower_left_x, lower_left_y, size_x_, local_voxel_map, 0, 0, cell_size_x, cell_size_x, + cell_size_y); + + // we'll reset our maps to unknown space if appropriate + resetMaps(); + + // update the origin with the appropriate world coordinates + origin_x_ = new_grid_ox; + origin_y_ = new_grid_oy; + + // compute the starting cell location for copying data back in + int start_x = lower_left_x - cell_ox; + int start_y = lower_left_y - cell_oy; + + // now we want to copy the overlapping information back into the map, but in its new location + copyMapRegion(local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); + copyMapRegion(local_voxel_map, 0, 0, cell_size_x, voxel_map, start_x, start_y, size_x_, cell_size_x, cell_size_y); + + // make sure to clean up + delete[] local_map; + delete[] local_voxel_map; +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/array_parser.cpp b/src/navigation/costmap_2d/src/array_parser.cpp new file mode 100644 index 0000000..144a860 --- /dev/null +++ b/src/navigation/costmap_2d/src/array_parser.cpp @@ -0,0 +1,115 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * author: Dave Hershberger + */ + +#include // for EOF +#include +#include +#include + +namespace costmap_2d +{ + +/** @brief Parse a vector of vector of floats from a string. + * @param input + * @param error_return + * Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] */ +std::vector > parseVVF(const std::string& input, std::string& error_return) +{ + std::vector > result; + + std::stringstream input_ss(input); + int depth = 0; + std::vector current_vector; + while (!!input_ss && !input_ss.eof()) + { + switch (input_ss.peek()) + { + case EOF: + break; + case '[': + depth++; + if (depth > 2) + { + error_return = "Array depth greater than 2"; + return result; + } + input_ss.get(); + current_vector.clear(); + break; + case ']': + depth--; + if (depth < 0) + { + error_return = "More close ] than open ["; + return result; + } + input_ss.get(); + if (depth == 1) + { + result.push_back(current_vector); + } + break; + case ',': + case ' ': + case '\t': + input_ss.get(); + break; + default: // All other characters should be part of the numbers. + if (depth != 2) + { + std::stringstream err_ss; + err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'."; + error_return = err_ss.str(); + return result; + } + float value; + input_ss >> value; + if (!!input_ss) + { + current_vector.push_back(value); + } + break; + } + } + + if (depth != 0) + { + error_return = "Unterminated vector string."; + } + else + { + error_return = ""; + } + + return result; +} + +} // end namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/costmap_2d.cpp b/src/navigation/costmap_2d/src/costmap_2d.cpp new file mode 100644 index 0000000..3d50327 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d.cpp @@ -0,0 +1,488 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include + +using namespace std; + +namespace costmap_2d +{ +Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution, + double origin_x, double origin_y, unsigned char default_value) : + size_x_(cells_size_x), size_y_(cells_size_y), resolution_(resolution), origin_x_(origin_x), + origin_y_(origin_y), costmap_(NULL), default_value_(default_value) +{ + access_ = new mutex_t(); + + // create the costmap + initMaps(size_x_, size_y_); + resetMaps(); +} + +void Costmap2D::deleteMaps() +{ + // clean up data + boost::unique_lock lock(*access_); + delete[] costmap_; + costmap_ = NULL; +} + +void Costmap2D::initMaps(unsigned int size_x, unsigned int size_y) +{ + boost::unique_lock lock(*access_); + delete[] costmap_; + costmap_ = new unsigned char[size_x * size_y]; +} + +void Costmap2D::resizeMap(unsigned int size_x, unsigned int size_y, double resolution, + double origin_x, double origin_y) +{ + size_x_ = size_x; + size_y_ = size_y; + resolution_ = resolution; + origin_x_ = origin_x; + origin_y_ = origin_y; + + initMaps(size_x, size_y); + + // reset our maps to have no information + resetMaps(); +} + +void Costmap2D::resetMaps() +{ + boost::unique_lock lock(*access_); + memset(costmap_, default_value_, size_x_ * size_y_ * sizeof(unsigned char)); +} + +void Costmap2D::resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn) +{ + boost::unique_lock lock(*(access_)); + unsigned int len = xn - x0; + for (unsigned int y = y0 * size_x_ + x0; y < yn * size_x_ + x0; y += size_x_) + memset(costmap_ + y, default_value_, len * sizeof(unsigned char)); +} + +bool Costmap2D::copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x, + double win_size_y) +{ + // check for self windowing + if (this == &map) + { + // ROS_ERROR("Cannot convert this costmap into a window of itself"); + return false; + } + + // clean up old data + deleteMaps(); + + // compute the bounds of our new map + unsigned int lower_left_x, lower_left_y, upper_right_x, upper_right_y; + if (!map.worldToMap(win_origin_x, win_origin_y, lower_left_x, lower_left_y) + || !map.worldToMap(win_origin_x + win_size_x, win_origin_y + win_size_y, upper_right_x, upper_right_y)) + { + // ROS_ERROR("Cannot window a map that the window bounds don't fit inside of"); + return false; + } + + size_x_ = upper_right_x - lower_left_x; + size_y_ = upper_right_y - lower_left_y; + resolution_ = map.resolution_; + origin_x_ = win_origin_x; + origin_y_ = win_origin_y; + + // initialize our various maps and reset markers for inflation + initMaps(size_x_, size_y_); + + // copy the window of the static map and the costmap that we're taking + copyMapRegion(map.costmap_, lower_left_x, lower_left_y, map.size_x_, costmap_, 0, 0, size_x_, size_x_, size_y_); + return true; +} + +Costmap2D& Costmap2D::operator=(const Costmap2D& map) +{ + // check for self assignement + if (this == &map) + return *this; + + // clean up old data + deleteMaps(); + + size_x_ = map.size_x_; + size_y_ = map.size_y_; + resolution_ = map.resolution_; + origin_x_ = map.origin_x_; + origin_y_ = map.origin_y_; + + // initialize our various maps + initMaps(size_x_, size_y_); + + // copy the cost map + memcpy(costmap_, map.costmap_, size_x_ * size_y_ * sizeof(unsigned char)); + + return *this; +} + +Costmap2D::Costmap2D(const Costmap2D& map) : + costmap_(NULL) +{ + access_ = new mutex_t(); + *this = map; +} + +// just initialize everything to NULL by default +Costmap2D::Costmap2D() : + size_x_(0), size_y_(0), resolution_(0.0), origin_x_(0.0), origin_y_(0.0), costmap_(NULL) +{ + access_ = new mutex_t(); +} + +Costmap2D::~Costmap2D() +{ + deleteMaps(); + delete access_; +} + +unsigned int Costmap2D::cellDistance(double world_dist) +{ + double cells_dist = max(0.0, ceil(world_dist / resolution_)); + return (unsigned int)cells_dist; +} + +unsigned char* Costmap2D::getCharMap() const +{ + return costmap_; +} + +unsigned char Costmap2D::getCost(unsigned int mx, unsigned int my) const +{ + return costmap_[getIndex(mx, my)]; +} + +void Costmap2D::setCost(unsigned int mx, unsigned int my, unsigned char cost) +{ + costmap_[getIndex(mx, my)] = cost; +} + +void Costmap2D::mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const +{ + wx = origin_x_ + (mx + 0.5) * resolution_; + wy = origin_y_ + (my + 0.5) * resolution_; +} + +bool Costmap2D::worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const +{ + if (wx < origin_x_ || wy < origin_y_) + return false; + + mx = (int)((wx - origin_x_) / resolution_); + my = (int)((wy - origin_y_) / resolution_); + + if (mx < size_x_ && my < size_y_) + return true; + + return false; +} + +void Costmap2D::worldToMapNoBounds(double wx, double wy, int& mx, int& my) const +{ + mx = (int)((wx - origin_x_) / resolution_); + my = (int)((wy - origin_y_) / resolution_); +} + +void Costmap2D::worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const +{ + // Here we avoid doing any math to wx,wy before comparing them to + // the bounds, so their values can go out to the max and min values + // of double floating point. + if (wx < origin_x_) + { + mx = 0; + } + else if (wx >= resolution_ * size_x_ + origin_x_) + { + mx = size_x_ - 1; + } + else + { + mx = (int)((wx - origin_x_) / resolution_); + } + + if (wy < origin_y_) + { + my = 0; + } + else if (wy >= resolution_ * size_y_ + origin_y_) + { + my = size_y_ - 1; + } + else + { + my = (int)((wy - origin_y_) / resolution_); + } +} + +void Costmap2D::updateOrigin(double new_origin_x, double new_origin_y) +{ + // project the new origin into the grid + int cell_ox, cell_oy; + cell_ox = int((new_origin_x - origin_x_) / resolution_); + cell_oy = int((new_origin_y - origin_y_) / resolution_); + + // Nothing to update + if (cell_ox == 0 && cell_oy == 0) + return; + + // compute the associated world coordinates for the origin cell + // because we want to keep things grid-aligned + double new_grid_ox, new_grid_oy; + new_grid_ox = origin_x_ + cell_ox * resolution_; + new_grid_oy = origin_y_ + cell_oy * resolution_; + + // To save casting from unsigned int to int a bunch of times + int size_x = size_x_; + int size_y = size_y_; + + // we need to compute the overlap of the new and existing windows + int lower_left_x, lower_left_y, upper_right_x, upper_right_y; + lower_left_x = min(max(cell_ox, 0), size_x); + lower_left_y = min(max(cell_oy, 0), size_y); + upper_right_x = min(max(cell_ox + size_x, 0), size_x); + upper_right_y = min(max(cell_oy + size_y, 0), size_y); + + unsigned int cell_size_x = upper_right_x - lower_left_x; + unsigned int cell_size_y = upper_right_y - lower_left_y; + + // we need a map to store the obstacles in the window temporarily + unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y]; + + // copy the local window in the costmap to the local map + copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y); + + // now we'll set the costmap to be completely unknown if we track unknown space + resetMaps(); + + // update the origin with the appropriate world coordinates + origin_x_ = new_grid_ox; + origin_y_ = new_grid_oy; + + // compute the starting cell location for copying data back in + int start_x = lower_left_x - cell_ox; + int start_y = lower_left_y - cell_oy; + + // now we want to copy the overlapping information back into the map, but in its new location + copyMapRegion(local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y); + + // make sure to clean up + delete[] local_map; +} + +bool Costmap2D::setConvexPolygonCost(const std::vector& polygon, unsigned char cost_value) +{ + // we assume the polygon is given in the global_frame... we need to transform it to map coordinates + std::vector map_polygon; + for (unsigned int i = 0; i < polygon.size(); ++i) + { + MapLocation loc; + if (!worldToMap(polygon[i].x, polygon[i].y, loc.x, loc.y)) + { + // ("Polygon lies outside map bounds, so we can't fill it"); + return false; + } + map_polygon.push_back(loc); + } + + std::vector polygon_cells; + + // get the cells that fill the polygon + convexFillCells(map_polygon, polygon_cells); + + // set the cost of those cells + for (unsigned int i = 0; i < polygon_cells.size(); ++i) + { + unsigned int index = getIndex(polygon_cells[i].x, polygon_cells[i].y); + costmap_[index] = cost_value; + } + return true; +} + +void Costmap2D::polygonOutlineCells(const std::vector& polygon, std::vector& polygon_cells) +{ + PolygonOutlineCells cell_gatherer(*this, costmap_, polygon_cells); + for (unsigned int i = 0; i < polygon.size() - 1; ++i) + { + raytraceLine(cell_gatherer, polygon[i].x, polygon[i].y, polygon[i + 1].x, polygon[i + 1].y); + } + if (!polygon.empty()) + { + unsigned int last_index = polygon.size() - 1; + // we also need to close the polygon by going from the last point to the first + raytraceLine(cell_gatherer, polygon[last_index].x, polygon[last_index].y, polygon[0].x, polygon[0].y); + } +} + +void Costmap2D::convexFillCells(const std::vector& polygon, std::vector& polygon_cells) +{ + // we need a minimum polygon of a triangle + if (polygon.size() < 3) + return; + + // first get the cells that make up the outline of the polygon + polygonOutlineCells(polygon, polygon_cells); + + // quick bubble sort to sort points by x + MapLocation swap; + unsigned int i = 0; + while (i < polygon_cells.size() - 1) + { + if (polygon_cells[i].x > polygon_cells[i + 1].x) + { + swap = polygon_cells[i]; + polygon_cells[i] = polygon_cells[i + 1]; + polygon_cells[i + 1] = swap; + + if (i > 0) + --i; + } + else + ++i; + } + + i = 0; + MapLocation min_pt; + MapLocation max_pt; + unsigned int min_x = polygon_cells[0].x; + unsigned int max_x = polygon_cells[polygon_cells.size() - 1].x; + + // walk through each column and mark cells inside the polygon + for (unsigned int x = min_x; x <= max_x; ++x) + { + if (i >= polygon_cells.size() - 1) + break; + + if (polygon_cells[i].y < polygon_cells[i + 1].y) + { + min_pt = polygon_cells[i]; + max_pt = polygon_cells[i + 1]; + } + else + { + min_pt = polygon_cells[i + 1]; + max_pt = polygon_cells[i]; + } + + i += 2; + while (i < polygon_cells.size() && polygon_cells[i].x == x) + { + if (polygon_cells[i].y < min_pt.y) + min_pt = polygon_cells[i]; + else if (polygon_cells[i].y > max_pt.y) + max_pt = polygon_cells[i]; + ++i; + } + + MapLocation pt; + // loop though cells in the column + for (unsigned int y = min_pt.y; y <= max_pt.y; ++y) + { + pt.x = x; + pt.y = y; + polygon_cells.push_back(pt); + } + } +} + +unsigned int Costmap2D::getSizeInCellsX() const +{ + return size_x_; +} + +unsigned int Costmap2D::getSizeInCellsY() const +{ + return size_y_; +} + +double Costmap2D::getSizeInMetersX() const +{ + return (size_x_ - 1 + 0.5) * resolution_; +} + +double Costmap2D::getSizeInMetersY() const +{ + return (size_y_ - 1 + 0.5) * resolution_; +} + +double Costmap2D::getOriginX() const +{ + return origin_x_; +} + +double Costmap2D::getOriginY() const +{ + return origin_y_; +} + +double Costmap2D::getResolution() const +{ + return resolution_; +} + +bool Costmap2D::saveMap(std::string file_name) +{ + FILE *fp = fopen(file_name.c_str(), "w"); + + if (!fp) + { + return false; + } + + fprintf(fp, "P2\n%u\n%u\n%u\n", size_x_, size_y_, 0xff); + for (unsigned int iy = 0; iy < size_y_; iy++) + { + for (unsigned int ix = 0; ix < size_x_; ix++) + { + unsigned char cost = getCost(ix, iy); + fprintf(fp, "%d ", cost); + } + fprintf(fp, "\n"); + } + fclose(fp); + return true; +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/costmap_2d_cloud.cpp b/src/navigation/costmap_2d/src/costmap_2d_cloud.cpp new file mode 100644 index 0000000..0eb6258 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d_cloud.cpp @@ -0,0 +1,207 @@ +/* + * Copyright (C) 2009, Willow Garage, Inc. + * + * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER 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. + */ + +#include +#include +#include +#include + +static inline void mapToWorld3D(const unsigned int mx, const unsigned int my, const unsigned int mz, + const double origin_x, const double origin_y, const double origin_z, + const double x_resolution, const double y_resolution, const double z_resolution, + double& wx, double& wy, double& wz) +{ + // returns the center point of the cell + wx = origin_x + (mx + 0.5) * x_resolution; + wy = origin_y + (my + 0.5) * y_resolution; + wz = origin_z + (mz + 0.5) * z_resolution; +} + +struct Cell +{ + double x; + double y; + double z; + voxel_grid::VoxelStatus status; +}; +typedef std::vector V_Cell; + +float g_colors_r[] = {0.0f, 0.0f, 1.0f}; +float g_colors_g[] = {0.0f, 0.0f, 0.0f}; +float g_colors_b[] = {0.0f, 1.0f, 0.0f}; +float g_colors_a[] = {0.0f, 0.5f, 1.0f}; + +V_Cell g_marked; +V_Cell g_unknown; +void voxelCallback(const ros::Publisher& pub_marked, const ros::Publisher& pub_unknown, + const costmap_2d::VoxelGridConstPtr& grid) +{ + if (grid->data.empty()) + { + ROS_ERROR("Received empty voxel grid"); + return; + } + + ros::WallTime start = ros::WallTime::now(); + + ROS_DEBUG("Received voxel grid"); + const std::string frame_id = grid->header.frame_id; + const ros::Time stamp = grid->header.stamp; + const uint32_t* data = &grid->data.front(); + const double x_origin = grid->origin.x; + const double y_origin = grid->origin.y; + const double z_origin = grid->origin.z; + const double x_res = grid->resolutions.x; + const double y_res = grid->resolutions.y; + const double z_res = grid->resolutions.z; + const uint32_t x_size = grid->size_x; + const uint32_t y_size = grid->size_y; + const uint32_t z_size = grid->size_z; + + g_marked.clear(); + g_unknown.clear(); + uint32_t num_marked = 0; + uint32_t num_unknown = 0; + for (uint32_t y_grid = 0; y_grid < y_size; ++y_grid) + { + for (uint32_t x_grid = 0; x_grid < x_size; ++x_grid) + { + for (uint32_t z_grid = 0; z_grid < z_size; ++z_grid) + { + voxel_grid::VoxelStatus status = voxel_grid::VoxelGrid::getVoxel(x_grid, y_grid, z_grid, x_size, y_size, z_size, + data); + + if (status == voxel_grid::UNKNOWN) + { + Cell c; + c.status = status; + mapToWorld3D(x_grid, y_grid, z_grid, x_origin, y_origin, z_origin, x_res, y_res, + z_res, c.x, c.y, c.z); + + g_unknown.push_back(c); + + ++num_unknown; + } + else if (status == voxel_grid::MARKED) + { + Cell c; + c.status = status; + mapToWorld3D(x_grid, y_grid, z_grid, x_origin, y_origin, z_origin, x_res, y_res, + z_res, c.x, c.y, c.z); + + g_marked.push_back(c); + + ++num_marked; + } + } + } + } + + { + sensor_msgs::PointCloud cloud; + cloud.points.resize(num_marked); + cloud.channels.resize(1); + cloud.channels[0].values.resize(num_marked); + cloud.channels[0].name = "rgb"; + cloud.header.frame_id = frame_id; + cloud.header.stamp = stamp; + + sensor_msgs::ChannelFloat32& chan = cloud.channels[0]; + for (uint32_t i = 0; i < num_marked; ++i) + { + geometry_msgs::Point32& p = cloud.points[i]; + float& cval = chan.values[i]; + Cell& c = g_marked[i]; + + p.x = c.x; + p.y = c.y; + p.z = c.z; + + uint32_t r = g_colors_r[c.status] * 255.0; + uint32_t g = g_colors_g[c.status] * 255.0; + uint32_t b = g_colors_b[c.status] * 255.0; + // uint32_t a = g_colors_a[c.status] * 255.0; + + uint32_t col = (r << 16) | (g << 8) | b; + cval = *reinterpret_cast(&col); + } + + pub_marked.publish(cloud); + } + + { + sensor_msgs::PointCloud cloud; + cloud.points.resize(num_unknown); + cloud.channels.resize(1); + cloud.channels[0].values.resize(num_unknown); + cloud.channels[0].name = "rgb"; + cloud.header.frame_id = frame_id; + cloud.header.stamp = stamp; + + sensor_msgs::ChannelFloat32& chan = cloud.channels[0]; + for (uint32_t i = 0; i < num_unknown; ++i) + { + geometry_msgs::Point32& p = cloud.points[i]; + float& cval = chan.values[i]; + Cell& c = g_unknown[i]; + + p.x = c.x; + p.y = c.y; + p.z = c.z; + + uint32_t r = g_colors_r[c.status] * 255.0; + uint32_t g = g_colors_g[c.status] * 255.0; + uint32_t b = g_colors_b[c.status] * 255.0; + // uint32_t a = g_colors_a[c.status] * 255.0; + + uint32_t col = (r << 16) | (g << 8) | b; + cval = *reinterpret_cast(&col); + } + + pub_unknown.publish(cloud); + } + + ros::WallTime end = ros::WallTime::now(); + ROS_DEBUG("Published %d points in %f seconds", num_marked + num_unknown, (end - start).toSec()); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "costmap_2d_cloud"); + ros::NodeHandle n; + + ROS_DEBUG("Startup"); + + ros::Publisher pub_marked = n.advertise < sensor_msgs::PointCloud > ("voxel_marked_cloud", 2); + ros::Publisher pub_unknown = n.advertise < sensor_msgs::PointCloud > ("voxel_unknown_cloud", 2); + ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid + > ("voxel_grid", 1, boost::bind(voxelCallback, pub_marked, pub_unknown, _1)); + + ros::spin(); + + return 0; +} diff --git a/src/navigation/costmap_2d/src/costmap_2d_markers.cpp b/src/navigation/costmap_2d/src/costmap_2d_markers.cpp new file mode 100644 index 0000000..63b072e --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d_markers.cpp @@ -0,0 +1,155 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ + +#include +#include +#include +#include + +struct Cell +{ + double x; + double y; + double z; + voxel_grid::VoxelStatus status; +}; +typedef std::vector V_Cell; + +float g_colors_r[] = {0.0f, 0.0f, 1.0f}; +float g_colors_g[] = {0.0f, 0.0f, 0.0f}; +float g_colors_b[] = {0.0f, 1.0f, 0.0f}; +float g_colors_a[] = {0.0f, 0.5f, 1.0f}; + +std::string g_marker_ns; +V_Cell g_cells; +void voxelCallback(const ros::Publisher& pub, const costmap_2d::VoxelGridConstPtr& grid) +{ + if (grid->data.empty()) + { + ROS_ERROR("Received empty voxel grid"); + return; + } + + ros::WallTime start = ros::WallTime::now(); + + ROS_DEBUG("Received voxel grid"); + const std::string frame_id = grid->header.frame_id; + const ros::Time stamp = grid->header.stamp; + const uint32_t* data = &grid->data.front(); + const double x_origin = grid->origin.x; + const double y_origin = grid->origin.y; + const double z_origin = grid->origin.z; + const double x_res = grid->resolutions.x; + const double y_res = grid->resolutions.y; + const double z_res = grid->resolutions.z; + const uint32_t x_size = grid->size_x; + const uint32_t y_size = grid->size_y; + const uint32_t z_size = grid->size_z; + + g_cells.clear(); + uint32_t num_markers = 0; + for (uint32_t y_grid = 0; y_grid < y_size; ++y_grid) + { + for (uint32_t x_grid = 0; x_grid < x_size; ++x_grid) + { + for (uint32_t z_grid = 0; z_grid < z_size; ++z_grid) + { + voxel_grid::VoxelStatus status = voxel_grid::VoxelGrid::getVoxel(x_grid, y_grid, z_grid, x_size, y_size, z_size, + data); + + if (status == voxel_grid::MARKED) + { + Cell c; + c.status = status; + c.x = x_origin + (x_grid + 0.5) * x_res; + c.y = y_origin + (y_grid + 0.5) * y_res; + c.z = z_origin + (z_grid + 0.5) * z_res; + g_cells.push_back(c); + + ++num_markers; + } + } + } + } + + visualization_msgs::Marker m; + m.header.frame_id = frame_id; + m.header.stamp = stamp; + m.ns = g_marker_ns; + m.id = 0; + m.type = visualization_msgs::Marker::CUBE_LIST; + m.action = visualization_msgs::Marker::ADD; + m.pose.orientation.w = 1.0; + m.scale.x = x_res; + m.scale.y = y_res; + m.scale.z = z_res; + m.color.r = g_colors_r[voxel_grid::MARKED]; + m.color.g = g_colors_g[voxel_grid::MARKED]; + m.color.b = g_colors_b[voxel_grid::MARKED]; + m.color.a = g_colors_a[voxel_grid::MARKED]; + m.points.resize(num_markers); + for (uint32_t i = 0; i < num_markers; ++i) + { + Cell& c = g_cells[i]; + geometry_msgs::Point& p = m.points[i]; + p.x = c.x; + p.y = c.y; + p.z = c.z; + } + + pub.publish(m); + + ros::WallTime end = ros::WallTime::now(); + ROS_DEBUG("Published %d markers in %f seconds", num_markers, (end - start).toSec()); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "costmap_2d_markers"); + ros::NodeHandle n; + + ROS_DEBUG("Startup"); + + ros::Publisher pub = n.advertise < visualization_msgs::Marker > ("visualization_marker", 1); + ros::Subscriber sub = n.subscribe < costmap_2d::VoxelGrid > ("voxel_grid", 1, boost::bind(voxelCallback, pub, _1)); + g_marker_ns = n.resolveName("voxel_grid"); + + ros::spin(); + + return 0; +} diff --git a/src/navigation/costmap_2d/src/costmap_2d_node.cpp b/src/navigation/costmap_2d/src/costmap_2d_node.cpp new file mode 100644 index 0000000..fed528c --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d_node.cpp @@ -0,0 +1,52 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "costmap_node"); + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + costmap_2d::Costmap2DROS lcr("costmap", buffer); + + ros::spin(); + + return (0); +} diff --git a/src/navigation/costmap_2d/src/costmap_2d_publisher.cpp b/src/navigation/costmap_2d/src/costmap_2d_publisher.cpp new file mode 100644 index 0000000..6273b73 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d_publisher.cpp @@ -0,0 +1,169 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include + +namespace costmap_2d +{ + +char* Costmap2DPublisher::cost_translation_table_ = NULL; + +Costmap2DPublisher::Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* costmap, std::string global_frame, + std::string topic_name, bool always_send_full_costmap) : + node(ros_node), costmap_(costmap), global_frame_(global_frame), active_(false), + always_send_full_costmap_(always_send_full_costmap) +{ + costmap_pub_ = ros_node->advertise(topic_name, 1, + boost::bind(&Costmap2DPublisher::onNewSubscription, this, _1)); + costmap_update_pub_ = ros_node->advertise(topic_name + "_updates", 1); + + if (cost_translation_table_ == NULL) + { + cost_translation_table_ = new char[256]; + + // special values: + cost_translation_table_[0] = 0; // NO obstacle + cost_translation_table_[253] = 99; // INSCRIBED obstacle + cost_translation_table_[254] = 100; // LETHAL obstacle + cost_translation_table_[255] = -1; // UNKNOWN + + // regular cost values scale the range 1 to 252 (inclusive) to fit + // into 1 to 98 (inclusive). + for (int i = 1; i < 253; i++) + { + cost_translation_table_[ i ] = char(1 + (97 * (i - 1)) / 251); + } + } + + xn_ = yn_ = 0; + x0_ = costmap_->getSizeInCellsX(); + y0_ = costmap_->getSizeInCellsY(); +} + +Costmap2DPublisher::~Costmap2DPublisher() +{ +} + +void Costmap2DPublisher::onNewSubscription(const ros::SingleSubscriberPublisher& pub) +{ + prepareGrid(); + pub.publish(grid_); +} + +// prepare grid_ message for publication. +void Costmap2DPublisher::prepareGrid() +{ + boost::unique_lock lock(*(costmap_->getMutex())); + double resolution = costmap_->getResolution(); + + grid_.header.frame_id = global_frame_; + grid_.header.stamp = ros::Time::now(); + grid_.info.resolution = resolution; + + grid_.info.width = costmap_->getSizeInCellsX(); + grid_.info.height = costmap_->getSizeInCellsY(); + + double wx, wy; + costmap_->mapToWorld(0, 0, wx, wy); + grid_.info.origin.position.x = wx - resolution / 2; + grid_.info.origin.position.y = wy - resolution / 2; + grid_.info.origin.position.z = 0.0; + grid_.info.origin.orientation.w = 1.0; + saved_origin_x_ = costmap_->getOriginX(); + saved_origin_y_ = costmap_->getOriginY(); + + grid_.data.resize(grid_.info.width * grid_.info.height); + + unsigned char* data = costmap_->getCharMap(); + for (unsigned int i = 0; i < grid_.data.size(); i++) + { + grid_.data[i] = cost_translation_table_[ data[ i ]]; + } +} + +void Costmap2DPublisher::publishCostmap() +{ + if (costmap_pub_.getNumSubscribers() == 0) + { + // No subscribers, so why do any work? + return; + } + + boost::unique_lock lock(*(costmap_->getMutex())); + float resolution = costmap_->getResolution(); + + if (always_send_full_costmap_ || grid_.info.resolution != resolution || + grid_.info.width != costmap_->getSizeInCellsX() || + grid_.info.height != costmap_->getSizeInCellsY() || + saved_origin_x_ != costmap_->getOriginX() || + saved_origin_y_ != costmap_->getOriginY()) + { + prepareGrid(); + costmap_pub_.publish(grid_); + } + else if (x0_ < xn_) + { + // Publish Just an Update + map_msgs::OccupancyGridUpdate update; + update.header.stamp = ros::Time::now(); + update.header.frame_id = global_frame_; + update.x = x0_; + update.y = y0_; + update.width = xn_ - x0_; + update.height = yn_ - y0_; + update.data.resize(update.width * update.height); + + unsigned int i = 0; + for (unsigned int y = y0_; y < yn_; y++) + { + for (unsigned int x = x0_; x < xn_; x++) + { + unsigned char cost = costmap_->getCost(x, y); + update.data[i++] = cost_translation_table_[ cost ]; + } + } + costmap_update_pub_.publish(update); + } + + xn_ = yn_ = 0; + x0_ = costmap_->getSizeInCellsX(); + y0_ = costmap_->getSizeInCellsY(); +} + +} // end namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/costmap_2d_ros.cpp b/src/navigation/costmap_2d/src/costmap_2d_ros.cpp new file mode 100644 index 0000000..d9e9588 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_2d_ros.cpp @@ -0,0 +1,609 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +namespace costmap_2d +{ + +void move_parameter(ros::NodeHandle& old_h, ros::NodeHandle& new_h, std::string name, bool should_delete = true) +{ + if (!old_h.hasParam(name)) + return; + + XmlRpc::XmlRpcValue value; + old_h.getParam(name, value); + new_h.setParam(name, value); + if (should_delete) old_h.deleteParam(name); +} + +Costmap2DROS::Costmap2DROS(const std::string& name, tf2_ros::Buffer& tf) : + layered_costmap_(NULL), + name_(name), + tf_(tf), + transform_tolerance_(0.3), + map_update_thread_shutdown_(false), + stop_updates_(false), + initialized_(true), + stopped_(false), + map_update_thread_(NULL), + last_publish_(0), + plugin_loader_("costmap_2d", "costmap_2d::Layer"), + publisher_(NULL), + dsrv_(NULL), + footprint_padding_(0.0) +{ + + ros::NodeHandle private_nh("~/" + name); + ros::NodeHandle g_nh; + + // get global and robot base frame names + private_nh.param("global_frame", global_frame_, std::string("map")); + private_nh.param("robot_base_frame", robot_base_frame_, std::string("base_link")); + + ros::Time last_error = ros::Time::now(); + std::string tf_error; + // we need to make sure that the transform between the robot base frame and the global frame is available + while (ros::ok() + && !tf_.canTransform(global_frame_, robot_base_frame_, ros::Time(), ros::Duration(0.1), &tf_error)) + { + ros::spinOnce(); + if (last_error + ros::Duration(5.0) < ros::Time::now()) + { + ROS_WARN("Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s", + robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str()); + last_error = ros::Time::now(); + } + // The error string will accumulate and errors will typically be the same, so the last + // will do for the warning above. Reset the string here to avoid accumulation. + tf_error.clear(); + } + + // check if we want a rolling window version of the costmap + bool rolling_window, track_unknown_space, always_send_full_costmap; + private_nh.param("rolling_window", rolling_window, false); + private_nh.param("track_unknown_space", track_unknown_space, false); + private_nh.param("always_send_full_costmap", always_send_full_costmap, false); + + layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space); + + if (!private_nh.hasParam("plugins")) + { + loadOldParameters(private_nh); + } else { + warnForOldParameters(private_nh); + } + + if (private_nh.hasParam("plugins")) + { + XmlRpc::XmlRpcValue my_list; + private_nh.getParam("plugins", my_list); + for (int32_t i = 0; i < my_list.size(); ++i) + { + std::string pname = static_cast(my_list[i]["name"]); + std::string type = static_cast(my_list[i]["type"]); + ROS_INFO("%s: Using plugin \"%s\"", name_.c_str(), pname.c_str()); + + copyParentParameters(pname, type, private_nh); + + boost::shared_ptr plugin = plugin_loader_.createInstance(type); + layered_costmap_->addPlugin(plugin); + plugin->initialize(layered_costmap_, name + "/" + pname, &tf_); + } + } + + // subscribe to the footprint topic + std::string topic_param, topic; + if (!private_nh.searchParam("footprint_topic", topic_param)) + { + topic_param = "footprint_topic"; + } + + private_nh.param(topic_param, topic, std::string("footprint")); + footprint_sub_ = private_nh.subscribe(topic, 1, &Costmap2DROS::setUnpaddedRobotFootprintPolygon, this); + + if (!private_nh.searchParam("published_footprint_topic", topic_param)) + { + topic_param = "published_footprint"; + } + + private_nh.param(topic_param, topic, std::string("footprint")); // TODO: revert to oriented_footprint in N-turtle + footprint_pub_ = private_nh.advertise(topic, 1); + + setUnpaddedRobotFootprint(makeFootprintFromParams(private_nh)); + + publisher_ = new Costmap2DPublisher(&private_nh, layered_costmap_->getCostmap(), global_frame_, "costmap", + always_send_full_costmap); + + // create a thread to handle updating the map + stop_updates_ = false; + initialized_ = true; + stopped_ = false; + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~/" + name)); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&Costmap2DROS::reconfigureCB, this, _1, + _2); + dsrv_->setCallback(cb); +} + +void Costmap2DROS::setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon& footprint) +{ + setUnpaddedRobotFootprint(toPointVector(footprint)); +} + +Costmap2DROS::~Costmap2DROS() +{ + map_update_thread_shutdown_ = true; + if (map_update_thread_ != NULL) + { + map_update_thread_->join(); + delete map_update_thread_; + } + if (publisher_ != NULL) + delete publisher_; + + delete layered_costmap_; + delete dsrv_; +} + +void Costmap2DROS::loadOldParameters(ros::NodeHandle& nh) +{ + ROS_WARN("%s: Parameter \"plugins\" not provided, loading pre-Hydro parameters", name_.c_str()); + bool flag; + std::string s; + std::vector < XmlRpc::XmlRpcValue > plugins; + + XmlRpc::XmlRpcValue::ValueStruct map; + SuperValue super_map; + SuperValue super_array; + + if (nh.getParam("static_map", flag) && flag) + { + map["name"] = XmlRpc::XmlRpcValue("static_layer"); + map["type"] = XmlRpc::XmlRpcValue("costmap_2d::StaticLayer"); + super_map.setStruct(&map); + plugins.push_back(super_map); + + ros::NodeHandle map_layer(nh, "static_layer"); + move_parameter(nh, map_layer, "map_topic"); + move_parameter(nh, map_layer, "unknown_cost_value"); + move_parameter(nh, map_layer, "lethal_cost_threshold"); + move_parameter(nh, map_layer, "track_unknown_space", false); + } + + ros::NodeHandle obstacles(nh, "obstacle_layer"); + if (nh.getParam("map_type", s) && s == "voxel") + { + map["name"] = XmlRpc::XmlRpcValue("obstacle_layer"); + map["type"] = XmlRpc::XmlRpcValue("costmap_2d::VoxelLayer"); + super_map.setStruct(&map); + plugins.push_back(super_map); + + move_parameter(nh, obstacles, "origin_z"); + move_parameter(nh, obstacles, "z_resolution"); + move_parameter(nh, obstacles, "z_voxels"); + move_parameter(nh, obstacles, "mark_threshold"); + move_parameter(nh, obstacles, "unknown_threshold"); + move_parameter(nh, obstacles, "publish_voxel_map"); + } + else + { + map["name"] = XmlRpc::XmlRpcValue("obstacle_layer"); + map["type"] = XmlRpc::XmlRpcValue("costmap_2d::ObstacleLayer"); + super_map.setStruct(&map); + plugins.push_back(super_map); + } + + move_parameter(nh, obstacles, "max_obstacle_height"); + move_parameter(nh, obstacles, "raytrace_range"); + move_parameter(nh, obstacles, "obstacle_range"); + move_parameter(nh, obstacles, "track_unknown_space", true); + nh.param("observation_sources", s, std::string("")); + std::stringstream ss(s); + std::string source; + while (ss >> source) + { + move_parameter(nh, obstacles, source); + } + move_parameter(nh, obstacles, "observation_sources"); + + ros::NodeHandle inflation(nh, "inflation_layer"); + move_parameter(nh, inflation, "cost_scaling_factor"); + move_parameter(nh, inflation, "inflation_radius"); + map["name"] = XmlRpc::XmlRpcValue("inflation_layer"); + map["type"] = XmlRpc::XmlRpcValue("costmap_2d::InflationLayer"); + super_map.setStruct(&map); + plugins.push_back(super_map); + + super_array.setArray(&plugins); + nh.setParam("plugins", super_array); +} + +void Costmap2DROS::copyParentParameters(const std::string& plugin_name, const std::string& plugin_type, ros::NodeHandle& nh) +{ + ros::NodeHandle target_layer(nh, plugin_name); + + if(plugin_type == "costmap_2d::StaticLayer") + { + move_parameter(nh, target_layer, "map_topic", false); + move_parameter(nh, target_layer, "unknown_cost_value", false); + move_parameter(nh, target_layer, "lethal_cost_threshold", false); + move_parameter(nh, target_layer, "track_unknown_space", false); + } + else if(plugin_type == "costmap_2d::VoxelLayer") + { + move_parameter(nh, target_layer, "origin_z", false); + move_parameter(nh, target_layer, "z_resolution", false); + move_parameter(nh, target_layer, "z_voxels", false); + move_parameter(nh, target_layer, "mark_threshold", false); + move_parameter(nh, target_layer, "unknown_threshold", false); + move_parameter(nh, target_layer, "publish_voxel_map", false); + } + else if(plugin_type == "costmap_2d::ObstacleLayer") + { + move_parameter(nh, target_layer, "max_obstacle_height", false); + move_parameter(nh, target_layer, "raytrace_range", false); + move_parameter(nh, target_layer, "obstacle_range", false); + move_parameter(nh, target_layer, "track_unknown_space", false); + } + else if(plugin_type == "costmap_2d::InflationLayer") + { + move_parameter(nh, target_layer, "cost_scaling_factor", false); + move_parameter(nh, target_layer, "inflation_radius", false); + } +} + +void Costmap2DROS::warnForOldParameters(ros::NodeHandle& nh) +{ + checkOldParam(nh, "static_map"); + checkOldParam(nh, "map_type"); +} + +void Costmap2DROS::checkOldParam(ros::NodeHandle& nh, const std::string ¶m_name){ + if(nh.hasParam(param_name)){ + ROS_WARN("%s: Pre-Hydro parameter \"%s\" unused since \"plugins\" is provided", name_.c_str(), param_name.c_str()); + } +} + +void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level) +{ + transform_tolerance_ = config.transform_tolerance; + if (map_update_thread_ != NULL) + { + map_update_thread_shutdown_ = true; + map_update_thread_->join(); + delete map_update_thread_; + map_update_thread_ = NULL; + } + map_update_thread_shutdown_ = false; + double map_update_frequency = config.update_frequency; + + double map_publish_frequency = config.publish_frequency; + if (map_publish_frequency > 0) + publish_cycle = ros::Duration(1 / map_publish_frequency); + else + publish_cycle = ros::Duration(-1); + + // find size parameters + double map_width_meters = config.width, map_height_meters = config.height, resolution = config.resolution, origin_x = + config.origin_x, + origin_y = config.origin_y; + + if (!layered_costmap_->isSizeLocked()) + { + layered_costmap_->resizeMap((unsigned int)(map_width_meters / resolution), + (unsigned int)(map_height_meters / resolution), resolution, origin_x, origin_y); + } + + // If the padding has changed, call setUnpaddedRobotFootprint() to + // re-apply the padding. + if (footprint_padding_ != config.footprint_padding) + { + footprint_padding_ = config.footprint_padding; + setUnpaddedRobotFootprint(unpadded_footprint_); + } + + readFootprintFromConfig(config, old_config_); + + old_config_ = config; + + // only construct the thread if the frequency is positive + if(map_update_frequency > 0.0) + map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency)); +} + +void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config, + const costmap_2d::Costmap2DConfig &old_config) +{ + // Only change the footprint if footprint or robot_radius has + // changed. Otherwise we might overwrite a footprint sent on a + // topic by a dynamic_reconfigure call which was setting some other + // variable. + if (new_config.footprint == old_config.footprint && + new_config.robot_radius == old_config.robot_radius) + { + return; + } + + if (new_config.footprint != "" && new_config.footprint != "[]") + { + std::vector new_footprint; + if (makeFootprintFromString(new_config.footprint, new_footprint)) + { + setUnpaddedRobotFootprint(new_footprint); + } + else + { + ROS_ERROR("Invalid footprint string from dynamic reconfigure"); + } + } + else + { + // robot_radius may be 0, but that must be intended at this point. + setUnpaddedRobotFootprint(makeFootprintFromRadius(new_config.robot_radius)); + } +} + +void Costmap2DROS::setUnpaddedRobotFootprint(const std::vector& points) +{ + unpadded_footprint_ = points; + padded_footprint_ = points; + padFootprint(padded_footprint_, footprint_padding_); + + layered_costmap_->setFootprint(padded_footprint_); +} + +void Costmap2DROS::movementCB(const ros::TimerEvent &event) +{ + // don't allow configuration to happen while this check occurs + // boost::recursive_mutex::scoped_lock mcl(configuration_mutex_); + + geometry_msgs::PoseStamped new_pose; + + if (!getRobotPose(new_pose)) + { + ROS_WARN_THROTTLE(1.0, "Could not get robot pose, cancelling reconfiguration"); + } +} + +void Costmap2DROS::mapUpdateLoop(double frequency) +{ + ros::NodeHandle nh; + ros::Rate r(frequency); + while (nh.ok() && !map_update_thread_shutdown_) + { + #ifdef HAVE_SYS_TIME_H + struct timeval start, end; + double start_t, end_t, t_diff; + gettimeofday(&start, NULL); + #endif + + updateMap(); + + #ifdef HAVE_SYS_TIME_H + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + ROS_DEBUG("Map update time: %.9f", t_diff); + #endif + + if (publish_cycle.toSec() > 0 && layered_costmap_->isInitialized()) + { + unsigned int x0, y0, xn, yn; + layered_costmap_->getBounds(&x0, &xn, &y0, &yn); + publisher_->updateBounds(x0, xn, y0, yn); + + ros::Time now = ros::Time::now(); + if (last_publish_ + publish_cycle < now) + { + publisher_->publishCostmap(); + last_publish_ = now; + } + } + r.sleep(); + // make sure to sleep for the remainder of our cycle time + if (r.cycleTime() > ros::Duration(1 / frequency)) + ROS_WARN("Map update loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", frequency, + r.cycleTime().toSec()); + } +} + +void Costmap2DROS::updateMap() +{ + if (!stop_updates_) + { + // get global pose + geometry_msgs::PoseStamped pose; + if (getRobotPose (pose)) + { + double x = pose.pose.position.x, + y = pose.pose.position.y, + yaw = tf2::getYaw(pose.pose.orientation); + + layered_costmap_->updateMap(x, y, yaw); + + geometry_msgs::PolygonStamped footprint; + footprint.header.frame_id = global_frame_; + footprint.header.stamp = ros::Time::now(); + transformFootprint(x, y, yaw, padded_footprint_, footprint); + footprint_pub_.publish(footprint); + + initialized_ = true; + } + } +} + +void Costmap2DROS::start() +{ + std::vector < boost::shared_ptr > *plugins = layered_costmap_->getPlugins(); + // check if we're stopped or just paused + if (stopped_) + { + // if we're stopped we need to re-subscribe to topics + for (vector >::iterator plugin = plugins->begin(); plugin != plugins->end(); + ++plugin) + { + (*plugin)->activate(); + } + stopped_ = false; + } + stop_updates_ = false; + + // block until the costmap is re-initialized.. meaning one update cycle has run + // note: this does not hold, if the user has disabled map-updates allgother + ros::Rate r(100.0); + while (ros::ok() && !initialized_ && map_update_thread_) + r.sleep(); +} + +void Costmap2DROS::stop() +{ + stop_updates_ = true; + std::vector < boost::shared_ptr > *plugins = layered_costmap_->getPlugins(); + // unsubscribe from topics + for (vector >::iterator plugin = plugins->begin(); plugin != plugins->end(); + ++plugin) + { + (*plugin)->deactivate(); + } + initialized_ = false; + stopped_ = true; +} + +void Costmap2DROS::pause() +{ + stop_updates_ = true; + initialized_ = false; +} + +void Costmap2DROS::resume() +{ + stop_updates_ = false; + + // block until the costmap is re-initialized.. meaning one update cycle has run + ros::Rate r(100.0); + while (!initialized_) + r.sleep(); +} + + +void Costmap2DROS::resetLayers() +{ + Costmap2D* top = layered_costmap_->getCostmap(); + top->resetMap(0, 0, top->getSizeInCellsX(), top->getSizeInCellsY()); + std::vector < boost::shared_ptr > *plugins = layered_costmap_->getPlugins(); + for (vector >::iterator plugin = plugins->begin(); plugin != plugins->end(); + ++plugin) + { + (*plugin)->reset(); + } +} + +bool Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped& global_pose) const +{ + tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose); + geometry_msgs::PoseStamped robot_pose; + tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose); + robot_pose.header.frame_id = robot_base_frame_; + robot_pose.header.stamp = ros::Time(); + ros::Time current_time = ros::Time::now(); // save time for checking tf delay later + + // get the global pose of the robot + try + { + // use current time if possible (makes sure it's not in the future) + if (tf_.canTransform(global_frame_, robot_base_frame_, current_time)) + { + geometry_msgs::TransformStamped transform = tf_.lookupTransform(global_frame_, robot_base_frame_, current_time); + tf2::doTransform(robot_pose, global_pose, transform); + } + // use the latest otherwise + else + { + tf_.transform(robot_pose, global_pose, global_frame_); + } + } + catch (tf2::LookupException& ex) + { + ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ConnectivityException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ExtrapolationException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what()); + return false; + } + // check global_pose timeout + if (!global_pose.header.stamp.isZero() && current_time.toSec() - global_pose.header.stamp.toSec() > transform_tolerance_) + { + ROS_WARN_THROTTLE(1.0, + "Costmap2DROS transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f", + current_time.toSec(), global_pose.header.stamp.toSec(), transform_tolerance_); + return false; + } + + return true; +} + +void Costmap2DROS::getOrientedFootprint(std::vector& oriented_footprint) const +{ + geometry_msgs::PoseStamped global_pose; + if (!getRobotPose(global_pose)) + return; + + double yaw = tf2::getYaw(global_pose.pose.orientation); + transformFootprint(global_pose.pose.position.x, global_pose.pose.position.y, yaw, + padded_footprint_, oriented_footprint); +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/costmap_layer.cpp b/src/navigation/costmap_2d/src/costmap_layer.cpp new file mode 100644 index 0000000..c023998 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_layer.cpp @@ -0,0 +1,159 @@ +#include + +namespace costmap_2d +{ + +void CostmapLayer::touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y) +{ + *min_x = std::min(x, *min_x); + *min_y = std::min(y, *min_y); + *max_x = std::max(x, *max_x); + *max_y = std::max(y, *max_y); +} + +void CostmapLayer::matchSize() +{ + Costmap2D* master = layered_costmap_->getCostmap(); + resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(), + master->getOriginX(), master->getOriginY()); +} + +void CostmapLayer::clearArea(int start_x, int start_y, int end_x, int end_y, bool invert_area) +{ + unsigned char* grid = getCharMap(); + for(int x=0; x<(int)getSizeInCellsX(); x++){ + bool xrange = x>start_x && xstart_y && y= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) + master_array[it] = costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1; + else + master_array[it] = sum; + } + it++; + } + } +} +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/costmap_math.cpp b/src/navigation/costmap_2d/src/costmap_math.cpp new file mode 100644 index 0000000..97f7f50 --- /dev/null +++ b/src/navigation/costmap_2d/src/costmap_math.cpp @@ -0,0 +1,89 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include + +double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1) +{ + double A = pX - x0; + double B = pY - y0; + double C = x1 - x0; + double D = y1 - y0; + + double dot = A * C + B * D; + double len_sq = C * C + D * D; + double param = dot / len_sq; + + double xx, yy; + + if (param < 0) + { + xx = x0; + yy = y0; + } + else if (param > 1) + { + xx = x1; + yy = y1; + } + else + { + xx = x0 + param * C; + yy = y0 + param * D; + } + + return distance(pX, pY, xx, yy); +} + +bool intersects(std::vector& polygon, float testx, float testy) +{ + bool c = false; + int i, j, nvert = polygon.size(); + for (i = 0, j = nvert - 1; i < nvert; j = i++) + { + float yi = polygon[i].y, yj = polygon[j].y, xi = polygon[i].x, xj = polygon[j].x; + + if (((yi > testy) != (yj > testy)) && (testx < (xj - xi) * (testy - yi) / (yj - yi) + xi)) + c = !c; + } + return c; +} + +bool intersects_helper(std::vector& polygon1, std::vector& polygon2) +{ + for (unsigned int i = 0; i < polygon1.size(); i++) + if (intersects(polygon2, polygon1[i].x, polygon1[i].y)) + return true; + return false; +} + +bool intersects(std::vector& polygon1, std::vector& polygon2) +{ + return intersects_helper(polygon1, polygon2) || intersects_helper(polygon2, polygon1); +} diff --git a/src/navigation/costmap_2d/src/footprint.cpp b/src/navigation/costmap_2d/src/footprint.cpp new file mode 100644 index 0000000..dc51700 --- /dev/null +++ b/src/navigation/costmap_2d/src/footprint.cpp @@ -0,0 +1,325 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_2d +{ + +void calculateMinAndMaxDistances(const std::vector& footprint, double& min_dist, double& max_dist) +{ + min_dist = std::numeric_limits::max(); + max_dist = 0.0; + + if (footprint.size() <= 2) + { + return; + } + + for (unsigned int i = 0; i < footprint.size() - 1; ++i) + { + // check the distance from the robot center point to the first vertex + double vertex_dist = distance(0.0, 0.0, footprint[i].x, footprint[i].y); + double edge_dist = distanceToLine(0.0, 0.0, footprint[i].x, footprint[i].y, + footprint[i + 1].x, footprint[i + 1].y); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist)); + } + + // we also need to do the last vertex and the first vertex + double vertex_dist = distance(0.0, 0.0, footprint.back().x, footprint.back().y); + double edge_dist = distanceToLine(0.0, 0.0, footprint.back().x, footprint.back().y, + footprint.front().x, footprint.front().y); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist)); +} + +geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt) +{ + geometry_msgs::Point32 point32; + point32.x = pt.x; + point32.y = pt.y; + point32.z = pt.z; + return point32; +} + +geometry_msgs::Point toPoint(geometry_msgs::Point32 pt) +{ + geometry_msgs::Point point; + point.x = pt.x; + point.y = pt.y; + point.z = pt.z; + return point; +} + +geometry_msgs::Polygon toPolygon(std::vector pts) +{ + geometry_msgs::Polygon polygon; + for (int i = 0; i < pts.size(); i++){ + polygon.points.push_back(toPoint32(pts[i])); + } + return polygon; +} + +std::vector toPointVector(geometry_msgs::Polygon polygon) +{ + std::vector pts; + for (int i = 0; i < polygon.points.size(); i++) + { + pts.push_back(toPoint(polygon.points[i])); + } + return pts; +} + +void transformFootprint(double x, double y, double theta, const std::vector& footprint_spec, + std::vector& oriented_footprint) +{ + // build the oriented footprint at a given location + oriented_footprint.clear(); + double cos_th = cos(theta); + double sin_th = sin(theta); + for (unsigned int i = 0; i < footprint_spec.size(); ++i) + { + geometry_msgs::Point new_pt; + new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + oriented_footprint.push_back(new_pt); + } +} + +void transformFootprint(double x, double y, double theta, const std::vector& footprint_spec, + geometry_msgs::PolygonStamped& oriented_footprint) +{ + // build the oriented footprint at a given location + oriented_footprint.polygon.points.clear(); + double cos_th = cos(theta); + double sin_th = sin(theta); + for (unsigned int i = 0; i < footprint_spec.size(); ++i) + { + geometry_msgs::Point32 new_pt; + new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + oriented_footprint.polygon.points.push_back(new_pt); + } +} + +void padFootprint(std::vector& footprint, double padding) +{ + // pad footprint in place + for (unsigned int i = 0; i < footprint.size(); i++) + { + geometry_msgs::Point& pt = footprint[ i ]; + pt.x += sign0(pt.x) * padding; + pt.y += sign0(pt.y) * padding; + } +} + + +std::vector makeFootprintFromRadius(double radius) +{ + std::vector points; + + // Loop over 16 angles around a circle making a point each time + int N = 16; + geometry_msgs::Point pt; + for (int i = 0; i < N; ++i) + { + double angle = i * 2 * M_PI / N; + pt.x = cos(angle) * radius; + pt.y = sin(angle) * radius; + + points.push_back(pt); + } + + return points; +} + + +bool makeFootprintFromString(const std::string& footprint_string, std::vector& footprint) +{ + std::string error; + std::vector > vvf = parseVVF(footprint_string, error); + + if (error != "") + { + ROS_ERROR("Error parsing footprint parameter: '%s'", error.c_str()); + ROS_ERROR(" Footprint string was '%s'.", footprint_string.c_str()); + return false; + } + + // convert vvf into points. + if (vvf.size() < 3) + { + ROS_ERROR("You must specify at least three points for the robot footprint, reverting to previous footprint."); + return false; + } + footprint.reserve(vvf.size()); + for (unsigned int i = 0; i < vvf.size(); i++) + { + if (vvf[ i ].size() == 2) + { + geometry_msgs::Point point; + point.x = vvf[ i ][ 0 ]; + point.y = vvf[ i ][ 1 ]; + point.z = 0; + footprint.push_back(point); + } + else + { + ROS_ERROR("Points in the footprint specification must be pairs of numbers. Found a point with %d numbers.", + int(vvf[ i ].size())); + return false; + } + } + + return true; +} + + + +std::vector makeFootprintFromParams(ros::NodeHandle& nh) +{ + std::string full_param_name; + std::string full_radius_param_name; + std::vector points; + + if (nh.searchParam("footprint", full_param_name)) + { + XmlRpc::XmlRpcValue footprint_xmlrpc; + nh.getParam(full_param_name, footprint_xmlrpc); + if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeString && + footprint_xmlrpc != "" && footprint_xmlrpc != "[]") + { + if (makeFootprintFromString(std::string(footprint_xmlrpc), points)) + { + writeFootprintToParam(nh, points); + return points; + } + } + else if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray) + { + points = makeFootprintFromXMLRPC(footprint_xmlrpc, full_param_name); + writeFootprintToParam(nh, points); + return points; + } + } + + if (nh.searchParam("robot_radius", full_radius_param_name)) + { + double robot_radius; + nh.param(full_radius_param_name, robot_radius, 1.234); + points = makeFootprintFromRadius(robot_radius); + nh.setParam("robot_radius", robot_radius); + } + // Else neither param was found anywhere this knows about, so + // defaults will come from dynamic_reconfigure stuff, set in + // cfg/Costmap2D.cfg and read in this file in reconfigureCB(). + return points; +} + +void writeFootprintToParam(ros::NodeHandle& nh, const std::vector& footprint) +{ + std::ostringstream oss; + bool first = true; + for (unsigned int i = 0; i < footprint.size(); i++) + { + geometry_msgs::Point p = footprint[ i ]; + if (first) + { + oss << "[[" << p.x << "," << p.y << "]"; + first = false; + } + else + { + oss << ",[" << p.x << "," << p.y << "]"; + } + } + oss << "]"; + nh.setParam("footprint", oss.str().c_str()); +} + +double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name) +{ + // Make sure that the value we're looking at is either a double or an int. + if (value.getType() != XmlRpc::XmlRpcValue::TypeInt && + value.getType() != XmlRpc::XmlRpcValue::TypeDouble) + { + std::string& value_string = value; + ROS_FATAL("Values in the footprint specification (param %s) must be numbers. Found value %s.", + full_param_name.c_str(), value_string.c_str()); + throw std::runtime_error("Values in the footprint specification must be numbers"); + } + return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value); +} + +std::vector makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc, + const std::string& full_param_name) +{ + // Make sure we have an array of at least 3 elements. + if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray || + footprint_xmlrpc.size() < 3) + { + ROS_FATAL("The footprint must be specified as list of lists on the parameter server, %s was specified as %s", + full_param_name.c_str(), std::string(footprint_xmlrpc).c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server with at least " + "3 points eg: [[x1, y1], [x2, y2], ..., [xn, yn]]"); + } + + std::vector footprint; + geometry_msgs::Point pt; + + for (int i = 0; i < footprint_xmlrpc.size(); ++i) + { + // Make sure each element of the list is an array of size 2. (x and y coordinates) + XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ]; + if (point.getType() != XmlRpc::XmlRpcValue::TypeArray || + point.size() != 2) + { + ROS_FATAL("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form.", + full_param_name.c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form"); + } + + pt.x = getNumberFromXMLRPC(point[ 0 ], full_param_name); + pt.y = getNumberFromXMLRPC(point[ 1 ], full_param_name); + + footprint.push_back(pt); + } + return footprint; +} + +} // end namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/layer.cpp b/src/navigation/costmap_2d/src/layer.cpp new file mode 100644 index 0000000..003c18e --- /dev/null +++ b/src/navigation/costmap_2d/src/layer.cpp @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include "costmap_2d/layer.h" + +namespace costmap_2d +{ + +Layer::Layer() + : layered_costmap_(NULL) + , current_(false) + , enabled_(false) + , name_() + , tf_(NULL) +{} + +void Layer::initialize(LayeredCostmap* parent, std::string name, tf2_ros::Buffer *tf) +{ + layered_costmap_ = parent; + name_ = name; + tf_ = tf; + onInitialize(); +} + +const std::vector& Layer::getFootprint() const +{ + return layered_costmap_->getFootprint(); +} + +} // end namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/layered_costmap.cpp b/src/navigation/costmap_2d/src/layered_costmap.cpp new file mode 100644 index 0000000..bf1823f --- /dev/null +++ b/src/navigation/costmap_2d/src/layered_costmap.cpp @@ -0,0 +1,189 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include +#include + +using std::vector; + +namespace costmap_2d +{ + +LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown) : + costmap_(), + global_frame_(global_frame), + rolling_window_(rolling_window), + current_(false), + minx_(0.0), + miny_(0.0), + maxx_(0.0), + maxy_(0.0), + bx0_(0), + bxn_(0), + by0_(0), + byn_(0), + initialized_(false), + size_locked_(false), + circumscribed_radius_(1.0), + inscribed_radius_(0.1) +{ + if (track_unknown) + costmap_.setDefaultValue(NO_INFORMATION); + else + costmap_.setDefaultValue(FREE_SPACE); +} + +LayeredCostmap::~LayeredCostmap() +{ + while (plugins_.size() > 0) + { + plugins_.pop_back(); + } +} + +void LayeredCostmap::resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, + double origin_y, bool size_locked) +{ + boost::unique_lock lock(*(costmap_.getMutex())); + size_locked_ = size_locked; + costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y); + for (vector >::iterator plugin = plugins_.begin(); plugin != plugins_.end(); + ++plugin) + { + (*plugin)->matchSize(); + } +} + +void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw) +{ + // Lock for the remainder of this function, some plugins (e.g. VoxelLayer) + // implement thread unsafe updateBounds() functions. + boost::unique_lock lock(*(costmap_.getMutex())); + + // if we're using a rolling buffer costmap... we need to update the origin using the robot's position + if (rolling_window_) + { + double new_origin_x = robot_x - costmap_.getSizeInMetersX() / 2; + double new_origin_y = robot_y - costmap_.getSizeInMetersY() / 2; + costmap_.updateOrigin(new_origin_x, new_origin_y); + } + + if (plugins_.size() == 0) + return; + + minx_ = miny_ = 1e30; + maxx_ = maxy_ = -1e30; + + for (vector >::iterator plugin = plugins_.begin(); plugin != plugins_.end(); + ++plugin) + { + if(!(*plugin)->isEnabled()) + continue; + double prev_minx = minx_; + double prev_miny = miny_; + double prev_maxx = maxx_; + double prev_maxy = maxy_; + (*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_); + if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) + { + ROS_WARN_THROTTLE(1.0, "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but " + "is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s", + prev_minx, prev_miny, prev_maxx , prev_maxy, + minx_, miny_, maxx_ , maxy_, + (*plugin)->getName().c_str()); + } + } + + int x0, xn, y0, yn; + costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0); + costmap_.worldToMapEnforceBounds(maxx_, maxy_, xn, yn); + + x0 = std::max(0, x0); + xn = std::min(int(costmap_.getSizeInCellsX()), xn + 1); + y0 = std::max(0, y0); + yn = std::min(int(costmap_.getSizeInCellsY()), yn + 1); + + ROS_DEBUG("Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn); + + if (xn < x0 || yn < y0) + return; + + costmap_.resetMap(x0, y0, xn, yn); + for (vector >::iterator plugin = plugins_.begin(); plugin != plugins_.end(); + ++plugin) + { + if((*plugin)->isEnabled()) + (*plugin)->updateCosts(costmap_, x0, y0, xn, yn); + } + + bx0_ = x0; + bxn_ = xn; + by0_ = y0; + byn_ = yn; + + initialized_ = true; +} + +bool LayeredCostmap::isCurrent() +{ + current_ = true; + for (vector >::iterator plugin = plugins_.begin(); plugin != plugins_.end(); + ++plugin) + { + if((*plugin)->isEnabled()) + current_ = current_ && (*plugin)->isCurrent(); + } + return current_; +} + +void LayeredCostmap::setFootprint(const std::vector& footprint_spec) +{ + footprint_ = footprint_spec; + costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_); + + for (vector >::iterator plugin = plugins_.begin(); plugin != plugins_.end(); + ++plugin) + { + (*plugin)->onFootprintChanged(); + } +} + +} // namespace costmap_2d diff --git a/src/navigation/costmap_2d/src/observation_buffer.cpp b/src/navigation/costmap_2d/src/observation_buffer.cpp new file mode 100644 index 0000000..06fb38e --- /dev/null +++ b/src/navigation/costmap_2d/src/observation_buffer.cpp @@ -0,0 +1,251 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ +#include + +#include +#include +#include + +using namespace std; +using namespace tf2; + +namespace costmap_2d +{ +ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_time, double expected_update_rate, + double min_obstacle_height, double max_obstacle_height, double obstacle_range, + double raytrace_range, tf2_ros::Buffer& tf2_buffer, string global_frame, + string sensor_frame, double tf_tolerance) : + tf2_buffer_(tf2_buffer), observation_keep_time_(observation_keep_time), expected_update_rate_(expected_update_rate), + last_updated_(ros::Time::now()), global_frame_(global_frame), sensor_frame_(sensor_frame), topic_name_(topic_name), + min_obstacle_height_(min_obstacle_height), max_obstacle_height_(max_obstacle_height), + obstacle_range_(obstacle_range), raytrace_range_(raytrace_range), tf_tolerance_(tf_tolerance) +{ +} + +ObservationBuffer::~ObservationBuffer() +{ +} + +bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame) +{ + ros::Time transform_time = ros::Time::now(); + std::string tf_error; + + geometry_msgs::TransformStamped transformStamped; + if (!tf2_buffer_.canTransform(new_global_frame, global_frame_, transform_time, ros::Duration(tf_tolerance_), &tf_error)) + { + ROS_ERROR("Transform between %s and %s with tolerance %.2f failed: %s.", new_global_frame.c_str(), + global_frame_.c_str(), tf_tolerance_, tf_error.c_str()); + return false; + } + + list::iterator obs_it; + for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it) + { + try + { + Observation& obs = *obs_it; + + geometry_msgs::PointStamped origin; + origin.header.frame_id = global_frame_; + origin.header.stamp = transform_time; + origin.point = obs.origin_; + + // we need to transform the origin of the observation to the new global frame + tf2_buffer_.transform(origin, origin, new_global_frame); + obs.origin_ = origin.point; + + // we also need to transform the cloud of the observation to the new global frame + tf2_buffer_.transform(*(obs.cloud_), *(obs.cloud_), new_global_frame); + } + catch (TransformException& ex) + { + ROS_ERROR("TF Error attempting to transform an observation from %s to %s: %s", global_frame_.c_str(), + new_global_frame.c_str(), ex.what()); + return false; + } + } + + // now we need to update our global_frame member + global_frame_ = new_global_frame; + return true; +} + +void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud) +{ + geometry_msgs::PointStamped global_origin; + + // create a new observation on the list to be populated + observation_list_.push_front(Observation()); + + // check whether the origin frame has been set explicitly or whether we should get it from the cloud + string origin_frame = sensor_frame_ == "" ? cloud.header.frame_id : sensor_frame_; + + try + { + // given these observations come from sensors... we'll need to store the origin pt of the sensor + geometry_msgs::PointStamped local_origin; + local_origin.header.stamp = cloud.header.stamp; + local_origin.header.frame_id = origin_frame; + local_origin.point.x = 0; + local_origin.point.y = 0; + local_origin.point.z = 0; + tf2_buffer_.transform(local_origin, global_origin, global_frame_); + tf2::convert(global_origin.point, observation_list_.front().origin_); + + // make sure to pass on the raytrace/obstacle range of the observation buffer to the observations + observation_list_.front().raytrace_range_ = raytrace_range_; + observation_list_.front().obstacle_range_ = obstacle_range_; + + sensor_msgs::PointCloud2 global_frame_cloud; + + // transform the point cloud + tf2_buffer_.transform(cloud, global_frame_cloud, global_frame_); + global_frame_cloud.header.stamp = cloud.header.stamp; + + // now we need to remove observations from the cloud that are below or above our height thresholds + sensor_msgs::PointCloud2& observation_cloud = *(observation_list_.front().cloud_); + observation_cloud.height = global_frame_cloud.height; + observation_cloud.width = global_frame_cloud.width; + observation_cloud.fields = global_frame_cloud.fields; + observation_cloud.is_bigendian = global_frame_cloud.is_bigendian; + observation_cloud.point_step = global_frame_cloud.point_step; + observation_cloud.row_step = global_frame_cloud.row_step; + observation_cloud.is_dense = global_frame_cloud.is_dense; + + unsigned int cloud_size = global_frame_cloud.height*global_frame_cloud.width; + sensor_msgs::PointCloud2Modifier modifier(observation_cloud); + modifier.resize(cloud_size); + unsigned int point_count = 0; + + // copy over the points that are within our height bounds + sensor_msgs::PointCloud2Iterator iter_z(global_frame_cloud, "z"); + std::vector::const_iterator iter_global = global_frame_cloud.data.begin(), iter_global_end = global_frame_cloud.data.end(); + std::vector::iterator iter_obs = observation_cloud.data.begin(); + for (; iter_global != iter_global_end; ++iter_z, iter_global += global_frame_cloud.point_step) + { + if ((*iter_z) <= max_obstacle_height_ + && (*iter_z) >= min_obstacle_height_) + { + std::copy(iter_global, iter_global + global_frame_cloud.point_step, iter_obs); + iter_obs += global_frame_cloud.point_step; + ++point_count; + } + } + + // resize the cloud for the number of legal points + modifier.resize(point_count); + observation_cloud.header.stamp = cloud.header.stamp; + observation_cloud.header.frame_id = global_frame_cloud.header.frame_id; + } + catch (TransformException& ex) + { + // if an exception occurs, we need to remove the empty observation from the list + observation_list_.pop_front(); + ROS_ERROR("TF Exception that should never happen for sensor frame: %s, cloud frame: %s, %s", sensor_frame_.c_str(), + cloud.header.frame_id.c_str(), ex.what()); + return; + } + + // if the update was successful, we want to update the last updated time + last_updated_ = ros::Time::now(); + + // we'll also remove any stale observations from the list + purgeStaleObservations(); +} + +// returns a copy of the observations +void ObservationBuffer::getObservations(vector& observations) +{ + // first... let's make sure that we don't have any stale observations + purgeStaleObservations(); + + // now we'll just copy the observations for the caller + list::iterator obs_it; + for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it) + { + observations.push_back(*obs_it); + } +} + +void ObservationBuffer::purgeStaleObservations() +{ + if (!observation_list_.empty()) + { + list::iterator obs_it = observation_list_.begin(); + // if we're keeping observations for no time... then we'll only keep one observation + if (observation_keep_time_ == ros::Duration(0.0)) + { + observation_list_.erase(++obs_it, observation_list_.end()); + return; + } + + // otherwise... we'll have to loop through the observations to see which ones are stale + for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it) + { + Observation& obs = *obs_it; + // check if the observation is out of date... and if it is, remove it and those that follow from the list + if ((last_updated_ - obs.cloud_->header.stamp) > observation_keep_time_) + { + observation_list_.erase(obs_it, observation_list_.end()); + return; + } + } + } +} + +bool ObservationBuffer::isCurrent() const +{ + if (expected_update_rate_ == ros::Duration(0.0)) + return true; + + bool current = (ros::Time::now() - last_updated_).toSec() <= expected_update_rate_.toSec(); + if (!current) + { + ROS_WARN( + "The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.", + topic_name_.c_str(), (ros::Time::now() - last_updated_).toSec(), expected_update_rate_.toSec()); + } + return current; +} + +void ObservationBuffer::resetLastUpdated() +{ + last_updated_ = ros::Time::now(); +} +} // namespace costmap_2d + diff --git a/src/navigation/costmap_2d/test/TenByTen.pgm b/src/navigation/costmap_2d/test/TenByTen.pgm new file mode 100644 index 0000000..558e3e8 --- /dev/null +++ b/src/navigation/costmap_2d/test/TenByTen.pgm Binary files differ diff --git a/src/navigation/costmap_2d/test/TenByTen.yaml b/src/navigation/costmap_2d/test/TenByTen.yaml new file mode 100644 index 0000000..fbf61f1 --- /dev/null +++ b/src/navigation/costmap_2d/test/TenByTen.yaml @@ -0,0 +1,7 @@ +image: TenByTen.pgm +resolution: 1.0 +origin: [0,0,0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/src/navigation/costmap_2d/test/array_parser_test.cpp b/src/navigation/costmap_2d/test/array_parser_test.cpp new file mode 100644 index 0000000..7ac2a39 --- /dev/null +++ b/src/navigation/costmap_2d/test/array_parser_test.cpp @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include + +#include "costmap_2d/array_parser.h" + +using namespace costmap_2d; + +TEST(array_parser, basic_operation) +{ + std::string error; + std::vector > vvf; + vvf = parseVVF( "[[1, 2.2], [.3, -4e4]]", error ); + EXPECT_EQ( 2, vvf.size() ); + EXPECT_EQ( 2, vvf[0].size() ); + EXPECT_EQ( 2, vvf[1].size() ); + EXPECT_EQ( 1.0f, vvf[0][0] ); + EXPECT_EQ( 2.2f, vvf[0][1] ); + EXPECT_EQ( 0.3f, vvf[1][0] ); + EXPECT_EQ( -40000.0f, vvf[1][1] ); + EXPECT_EQ( "", error ); +} + +TEST(array_parser, missing_open) +{ + std::string error; + std::vector > vvf; + vvf = parseVVF( "[1, 2.2], [.3, -4e4]]", error ); + EXPECT_FALSE( error == "" ); +} + +TEST(array_parser, missing_close) +{ + std::string error; + std::vector > vvf; + vvf = parseVVF( "[[1, 2.2], [.3, -4e4]", error ); + EXPECT_FALSE( error == "" ); +} + +TEST(array_parser, wrong_depth) +{ + std::string error; + std::vector > vvf; + vvf = parseVVF( "[1, 2.2], [.3, -4e4]", error ); + EXPECT_FALSE( error == "" ); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest( &argc, argv ); + return RUN_ALL_TESTS(); +} + diff --git a/src/navigation/costmap_2d/test/coordinates_test.cpp b/src/navigation/costmap_2d/test/coordinates_test.cpp new file mode 100644 index 0000000..065ef2e --- /dev/null +++ b/src/navigation/costmap_2d/test/coordinates_test.cpp @@ -0,0 +1,132 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Locus Robotics + * 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. + */ + +// Tests ripped from https://github.com/locusrobotics/robot_navigation/blob/master/nav_grid/test/utest.cpp + +#include +#include + +using namespace costmap_2d; + +TEST(CostmapCoordinates, easy_coordinates_test) +{ + Costmap2D costmap(2, 3, 1.0, 0, 0); + + double wx, wy; + costmap.mapToWorld(0u, 0u, wx, wy); + EXPECT_DOUBLE_EQ(wx, 0.5); + EXPECT_DOUBLE_EQ(wy, 0.5); + costmap.mapToWorld(1u, 2u, wx, wy); + EXPECT_DOUBLE_EQ(wx, 1.5); + EXPECT_DOUBLE_EQ(wy, 2.5); + + unsigned int umx, umy; + int mx, my; + ASSERT_TRUE(costmap.worldToMap(wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + costmap.worldToMapNoBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + + // Invalid Coordinate + wx = 2.5; + EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy)); + costmap.worldToMapEnforceBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + costmap.worldToMapNoBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 2); + EXPECT_EQ(my, 2); + + // Border Cases + EXPECT_TRUE(costmap.worldToMap(0.0, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(costmap.worldToMap(0.25, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(costmap.worldToMap(0.75, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(costmap.worldToMap(0.9999, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(costmap.worldToMap(1.0, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(costmap.worldToMap(1.25, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(costmap.worldToMap(1.75, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(costmap.worldToMap(1.9999, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_FALSE(costmap.worldToMap(2.0, wy, umx, umy)); + costmap.worldToMapEnforceBounds(2.0, wy, mx, my); + EXPECT_EQ(mx, 1); +} + +TEST(CostmapCoordinates, hard_coordinates_test) +{ + Costmap2D costmap(2, 3, 0.1, -0.2, 0.2); + + double wx, wy; + costmap.mapToWorld(0, 0, wx, wy); + EXPECT_DOUBLE_EQ(wx, -0.15); + EXPECT_DOUBLE_EQ(wy, 0.25); + costmap.mapToWorld(1, 2, wx, wy); + EXPECT_DOUBLE_EQ(wx, -0.05); + EXPECT_DOUBLE_EQ(wy, 0.45); + + unsigned int umx, umy; + int mx, my; + EXPECT_TRUE(costmap.worldToMap(wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + costmap.worldToMapNoBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + + // Invalid Coordinate + wx = 2.5; + EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy)); + costmap.worldToMapEnforceBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + costmap.worldToMapNoBounds(wx, wy, mx, my); + EXPECT_EQ(mx, 27); + EXPECT_EQ(my, 2); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest( &argc, argv ); + return RUN_ALL_TESTS(); +} + diff --git a/src/navigation/costmap_2d/test/costmap_params.yaml b/src/navigation/costmap_2d/test/costmap_params.yaml new file mode 100644 index 0000000..b402413 --- /dev/null +++ b/src/navigation/costmap_2d/test/costmap_params.yaml @@ -0,0 +1,29 @@ +global_frame: map +robot_base_frame: base_link +update_frequency: 5.0 +publish_frequency: 0.0 +static_map: true +rolling_window: false + +#START VOXEL STUFF +map_type: voxel +origin_z: 0.0 +z_resolution: 0.2 +z_voxels: 10 +unknown_threshold: 10 +mark_threshold: 0 +#END VOXEL STUFF + +transform_tolerance: 0.3 +obstacle_range: 2.5 +max_obstacle_height: 2.0 +raytrace_range: 3.0 +footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] +#robot_radius: 0.46 +footprint_padding: 0.01 +inflation_radius: 0.55 +cost_scaling_factor: 10.0 +lethal_cost_threshold: 100 +observation_sources: base_scan +base_scan: {data_type: LaserScan, expected_update_rate: 0.4, + observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08} diff --git a/src/navigation/costmap_2d/test/costmap_tester.cpp b/src/navigation/costmap_2d/test/costmap_tester.cpp new file mode 100644 index 0000000..c49a98c --- /dev/null +++ b/src/navigation/costmap_2d/test/costmap_tester.cpp @@ -0,0 +1,146 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#include + +namespace costmap_2d { + +class CostmapTester : public testing::Test { + public: + CostmapTester(tf2_ros::Buffer& tf); + void checkConsistentCosts(); + void compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y); + void compareCells(costmap_2d::Costmap2D& costmap, + unsigned int x, unsigned int y, unsigned int nx, unsigned int ny); + virtual void TestBody(){} + + private: + costmap_2d::Costmap2DROS costmap_ros_; +}; + +CostmapTester::CostmapTester(tf2_ros::Buffer& tf): costmap_ros_("test_costmap", tf){} + +void CostmapTester::checkConsistentCosts(){ + costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap(); + + //get a copy of the costmap contained by our ros wrapper + costmap->saveMap("costmap_test.pgm"); + + //loop through the costmap and check for any unexpected drop-offs in costs + for(unsigned int i = 0; i < costmap->getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < costmap->getSizeInCellsY(); ++j){ + compareCellToNeighbors(*costmap, i, j); + } + } +} + +void CostmapTester::compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y){ + //we'll compare the cost of this cell with that of its eight neighbors to see if they're reasonable + for(int offset_x = -1; offset_x <= 1; ++offset_x){ + for(int offset_y = -1; offset_y <= 1; ++offset_y){ + int nx = x + offset_x; + int ny = y + offset_y; + + //check to make sure that the neighbor cell is a legal one + if(nx >= 0 && nx < (int)costmap.getSizeInCellsX() && ny >=0 && ny < (int)costmap.getSizeInCellsY()){ + compareCells(costmap, x, y, nx, ny); + } + } + } +} + +//for all lethal and inscribed costs, we'll make sure that their neighbors have the cost values we'd expect +void CostmapTester::compareCells(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y, unsigned int nx, unsigned int ny){ + double cell_distance = hypot(static_cast(x-nx), static_cast(y-ny)); + + unsigned char cell_cost = costmap.getCost(x, y); + unsigned char neighbor_cost = costmap.getCost(nx, ny); + + if(cell_cost == costmap_2d::LETHAL_OBSTACLE){ + //if the cell is a lethal obstacle, then we know that all its neighbors should have equal or slighlty less cost + unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(cell_distance); + EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (cell_distance > 0 /*costmap.cell_inflation_radius_*/ && neighbor_cost == costmap_2d::FREE_SPACE)); + } + else if(cell_cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + //the furthest valid distance from an obstacle is the inscribed radius plus the cell distance away + double furthest_valid_distance = 0; // ################costmap.cell_inscribed_radius_ + cell_distance + 1; + unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(furthest_valid_distance); + if(neighbor_cost < expected_lowest_cost){ + ROS_ERROR("Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost: %d, cell distance: %.2f, furthest valid distance: %.2f", + x, y, cell_cost, nx, ny, neighbor_cost, expected_lowest_cost, cell_distance, furthest_valid_distance); + ROS_ERROR("Cell: (%d, %d), Neighbor: (%d, %d)", x, y, nx, ny); + costmap.saveMap("failing_costmap.pgm"); + } + EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (furthest_valid_distance > 0/* costmap.cell_inflation_radius_ */&& neighbor_cost == costmap_2d::FREE_SPACE)); + } +} +}; + +costmap_2d::CostmapTester* map_tester = NULL; + +TEST(CostmapTester, checkConsistentCosts){ + map_tester->checkConsistentCosts(); +} + +void testCallback(const ros::TimerEvent& e){ + int test_result = RUN_ALL_TESTS(); + ROS_INFO("gtest return value: %d", test_result); + ros::shutdown(); +} + +int main(int argc, char** argv){ + ros::init(argc, argv, "costmap_tester_node"); + testing::InitGoogleTest(&argc, argv); + + ros::NodeHandle n; + ros::NodeHandle private_nh("~"); + + tf2_ros::Buffer tf(ros::Duration(10)); + tf2_ros::TransformListener tfl(tf); + map_tester = new costmap_2d::CostmapTester(tf); + + double wait_time; + private_nh.param("wait_time", wait_time, 30.0); + ros::Timer timer = n.createTimer(ros::Duration(wait_time), testCallback); + + ros::spin(); + + return(0); +} diff --git a/src/navigation/costmap_2d/test/footprint_tests.cpp b/src/navigation/costmap_2d/test/footprint_tests.cpp new file mode 100644 index 0000000..356b9b6 --- /dev/null +++ b/src/navigation/costmap_2d/test/footprint_tests.cpp @@ -0,0 +1,182 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Dave Hershberger +*********************************************************************/ +#include +#include +#include +#include +#include + +using namespace costmap_2d; + +tf2_ros::TransformListener* tfl_; +tf2_ros::Buffer* tf_; + +TEST( Costmap2DROS, unpadded_footprint_from_string_param ) +{ + Costmap2DROS cm( "unpadded/string", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + EXPECT_EQ( 3, footprint.size() ); + + EXPECT_EQ( 1.0f, footprint[ 0 ].x ); + EXPECT_EQ( 1.0f, footprint[ 0 ].y ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); + + EXPECT_EQ( -1.0f, footprint[ 1 ].x ); + EXPECT_EQ( 1.0f, footprint[ 1 ].y ); + EXPECT_EQ( 0.0f, footprint[ 1 ].z ); + + EXPECT_EQ( -1.0f, footprint[ 2 ].x ); + EXPECT_EQ( -1.0f, footprint[ 2 ].y ); + EXPECT_EQ( 0.0f, footprint[ 2 ].z ); +} + +TEST( Costmap2DROS, padded_footprint_from_string_param ) +{ + Costmap2DROS cm( "padded/string", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + EXPECT_EQ( 3, footprint.size() ); + + EXPECT_EQ( 1.5f, footprint[ 0 ].x ); + EXPECT_EQ( 1.5f, footprint[ 0 ].y ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); + + EXPECT_EQ( -1.5f, footprint[ 1 ].x ); + EXPECT_EQ( 1.5f, footprint[ 1 ].y ); + EXPECT_EQ( 0.0f, footprint[ 1 ].z ); + + EXPECT_EQ( -1.5f, footprint[ 2 ].x ); + EXPECT_EQ( -1.5f, footprint[ 2 ].y ); + EXPECT_EQ( 0.0f, footprint[ 2 ].z ); +} + +TEST( Costmap2DROS, radius_param ) +{ + Costmap2DROS cm( "radius/sub", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + // Circular robot has 16-point footprint auto-generated. + EXPECT_EQ( 16, footprint.size() ); + + // Check the first point + EXPECT_EQ( 10.0f, footprint[ 0 ].x ); + EXPECT_EQ( 0.0f, footprint[ 0 ].y ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); + + // Check the 4th point, which should be 90 degrees around the circle from the first. + EXPECT_NEAR( 0.0f, footprint[ 4 ].x, 0.0001 ); + EXPECT_NEAR( 10.0f, footprint[ 4 ].y, 0.0001 ); + EXPECT_EQ( 0.0f, footprint[ 4 ].z ); +} + +TEST( Costmap2DROS, footprint_from_xmlrpc_param ) +{ + Costmap2DROS cm( "xmlrpc", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + EXPECT_EQ( 4, footprint.size() ); + + EXPECT_EQ( 0.1f, footprint[ 0 ].x ); + EXPECT_EQ( 0.1f, footprint[ 0 ].y ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); + + EXPECT_EQ( -0.1f, footprint[ 1 ].x ); + EXPECT_EQ( 0.1f, footprint[ 1 ].y ); + EXPECT_EQ( 0.0f, footprint[ 1 ].z ); + + EXPECT_EQ( -0.1f, footprint[ 2 ].x ); + EXPECT_EQ( -0.1f, footprint[ 2 ].y ); + EXPECT_EQ( 0.0f, footprint[ 2 ].z ); + + EXPECT_EQ( 0.1f, footprint[ 3 ].x ); + EXPECT_EQ( -0.1f, footprint[ 3 ].y ); + EXPECT_EQ( 0.0f, footprint[ 3 ].z ); +} + +TEST( Costmap2DROS, footprint_from_same_level_param ) +{ + Costmap2DROS cm( "same_level", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + EXPECT_EQ( 3, footprint.size() ); + + EXPECT_EQ( 1.0f, footprint[ 0 ].x ); + EXPECT_EQ( 2.0f, footprint[ 0 ].y ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); + + EXPECT_EQ( 3.0f, footprint[ 1 ].x ); + EXPECT_EQ( 4.0f, footprint[ 1 ].y ); + EXPECT_EQ( 0.0f, footprint[ 1 ].z ); + + EXPECT_EQ( 5.0f, footprint[ 2 ].x ); + EXPECT_EQ( 6.0f, footprint[ 2 ].y ); + EXPECT_EQ( 0.0f, footprint[ 2 ].z ); +} + +TEST( Costmap2DROS, footprint_from_xmlrpc_param_failure ) +{ + ASSERT_ANY_THROW( Costmap2DROS cm( "xmlrpc_fail", *tf_ )); +} + +TEST( Costmap2DROS, footprint_empty ) +{ + Costmap2DROS cm( "empty", *tf_ ); + std::vector footprint = cm.getRobotFootprint(); + // With no specification of footprint or radius, defaults to 0.46 meter radius plus 0.01 meter padding. + EXPECT_EQ( 16, footprint.size() ); + + EXPECT_NEAR( 0.47f, footprint[ 0 ].x, 0.0001 ); + EXPECT_NEAR( 0.0f, footprint[ 0 ].y, 0.0001 ); + EXPECT_EQ( 0.0f, footprint[ 0 ].z ); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "footprint_tests_node"); + + tf_ = new tf2_ros::Buffer( ros::Duration( 10 )); + tfl_ = new tf2_ros::TransformListener(*tf_); + + // This empty transform is added to satisfy the constructor of + // Costmap2DROS, which waits for the transform from map to base_link + // to become available. + geometry_msgs::TransformStamped base_rel_map; + base_rel_map.transform = tf2::toMsg(tf2::Transform::getIdentity()); + base_rel_map.child_frame_id = "base_link"; + base_rel_map.header.frame_id = "map"; + base_rel_map.header.stamp = ros::Time::now(); + tf_->setTransform( base_rel_map, "footprint_tests" ); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/costmap_2d/test/footprint_tests.launch b/src/navigation/costmap_2d/test/footprint_tests.launch new file mode 100644 index 0000000..30edbdd --- /dev/null +++ b/src/navigation/costmap_2d/test/footprint_tests.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + footprint_padding: 0 + footprint: [[0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1]] + + + + footprint_padding: 0 + footprint: [[0.1, 0.1], [-0.1, 0.1, 77.0], [-0.1, -0.1], [0.1, -0.1]] + + + + + + + + + diff --git a/src/navigation/costmap_2d/test/inflation_tests.cpp b/src/navigation/costmap_2d/test/inflation_tests.cpp new file mode 100644 index 0000000..3c29c2f --- /dev/null +++ b/src/navigation/costmap_2d/test/inflation_tests.cpp @@ -0,0 +1,417 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/** + * @author David Lu!! + * Test harness for InflationLayer for Costmap2D + */ +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +using namespace costmap_2d; +using geometry_msgs::Point; + +std::vector setRadii(LayeredCostmap& layers, double length, double width, double inflation_radius) +{ + std::vector polygon; + Point p; + p.x = width; + p.y = length; + polygon.push_back(p); + p.x = width; + p.y = -length; + polygon.push_back(p); + p.x = -width; + p.y = -length; + polygon.push_back(p); + p.x = -width; + p.y = length; + polygon.push_back(p); + layers.setFootprint(polygon); + + ros::NodeHandle nh; + nh.setParam("/inflation_tests/inflation/inflation_radius", inflation_radius); + + return polygon; +} + +// Test that a single point gets inflated properly +void validatePointInflation(unsigned int mx, unsigned int my, Costmap2D* costmap, InflationLayer* ilayer, double inflation_radius) +{ + bool* seen = new bool[costmap->getSizeInCellsX() * costmap->getSizeInCellsY()]; + memset(seen, false, costmap->getSizeInCellsX() * costmap->getSizeInCellsY() * sizeof(bool)); + std::map > m; + CellData initial(costmap->getIndex(mx, my), mx, my, mx, my); + m[0].push_back(initial); + for (std::map >::iterator bin = m.begin(); bin != m.end(); ++bin) + { + for (int i = 0; i < bin->second.size(); ++i) + { + const CellData& cell = bin->second[i]; + if (!seen[cell.index_]) + { + seen[cell.index_] = true; + unsigned int dx = (cell.x_ > cell.src_x_) ? cell.x_ - cell.src_x_ : cell.src_x_ - cell.x_; + unsigned int dy = (cell.y_ > cell.src_y_) ? cell.y_ - cell.src_y_ : cell.src_y_ - cell.y_; + double dist = hypot(dx, dy); + + unsigned char expected_cost = ilayer->computeCost(dist); + ASSERT_TRUE(costmap->getCost(cell.x_, cell.y_) >= expected_cost); + + if (dist > inflation_radius) + { + continue; + } + + if (dist == bin->first) + { + // Adding to our current bin could cause a reallocation + // Which appears to cause the iterator to get messed up + dist += 0.001; + } + + if (cell.x_ > 0) + { + CellData data(costmap->getIndex(cell.x_-1, cell.y_), + cell.x_-1, cell.y_, cell.src_x_, cell.src_y_); + m[dist].push_back(data); + } + if (cell.y_ > 0) + { + CellData data(costmap->getIndex(cell.x_, cell.y_-1), + cell.x_, cell.y_-1, cell.src_x_, cell.src_y_); + m[dist].push_back(data); + } + if (cell.x_ < costmap->getSizeInCellsX() - 1) + { + CellData data(costmap->getIndex(cell.x_+1, cell.y_), + cell.x_+1, cell.y_, cell.src_x_, cell.src_y_); + m[dist].push_back(data); + } + if (cell.y_ < costmap->getSizeInCellsY() - 1) + { + CellData data(costmap->getIndex(cell.x_, cell.y_+1), + cell.x_, cell.y_+1, cell.src_x_, cell.src_y_); + m[dist].push_back(data); + } + } + } + } + delete[] seen; +} + +TEST(costmap, testAdjacentToObstacleCanStillMove){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + layers.resizeMap(10, 10, 1, 0, 0); + + // Footprint with inscribed radius = 2.1 + // circumscribed radius = 3.1 + std::vector polygon = setRadii(layers, 2.1, 2.3, 4.1); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + addObservation(olayer, 0, 0, MAX_Z); + + layers.updateMap(0,0,0); + Costmap2D* costmap = layers.getCostmap(); + //printMap(*costmap); + EXPECT_EQ( LETHAL_OBSTACLE, costmap->getCost( 0, 0 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, costmap->getCost( 1, 0 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, costmap->getCost( 2, 0 )); + EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > costmap->getCost( 3, 0 )); + EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > costmap->getCost( 2, 1 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, costmap->getCost( 1, 1 )); +} + +TEST(costmap, testInflationShouldNotCreateUnknowns){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + layers.resizeMap(10, 10, 1, 0, 0); + + // Footprint with inscribed radius = 2.1 + // circumscribed radius = 3.1 + std::vector polygon = setRadii(layers, 2.1, 2.3, 4.1); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + addObservation(olayer, 0, 0, MAX_Z); + + layers.updateMap(0,0,0); + Costmap2D* costmap = layers.getCostmap(); + + EXPECT_EQ( countValues(*costmap, NO_INFORMATION), 0 ); +} + + +/** + * Test for the cost function correctness with a larger range and different values + */ +TEST(costmap, testCostFunctionCorrectness){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + layers.resizeMap(100, 100, 1, 0, 0); + + // Footprint with inscribed radius = 5.0 + // circumscribed radius = 8.0 + std::vector polygon = setRadii(layers, 5.0, 6.25, 10.5); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + addObservation(olayer, 50, 50, MAX_Z); + + layers.updateMap(0,0,0); + Costmap2D* map = layers.getCostmap(); + + // Verify that the circumscribed cost lower bound is as expected: based on the cost function. + //unsigned char c = ilayer->computeCost(8.0); + //ASSERT_EQ(ilayer->getCircumscribedCost(), c); + + for(unsigned int i = 0; i <= (unsigned int)ceil(5.0); i++){ + // To the right + ASSERT_EQ(map->getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map->getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // To the left + ASSERT_EQ(map->getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map->getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // Down + ASSERT_EQ(map->getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map->getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // Up + ASSERT_EQ(map->getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map->getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + } + + // Verify the normalized cost attenuates as expected + for(unsigned int i = (unsigned int)(ceil(5.0) + 1); i <= (unsigned int)ceil(10.5); i++){ + unsigned char expectedValue = ilayer->computeCost(i/1.0); + ASSERT_EQ(map->getCost(50 + i, 50), expectedValue); + } + + // Update with no hits. Should clear (revert to the static map + /*map->resetMapOutsideWindow(0, 0, 0.0, 0.0); + cloud.points.resize(0); + + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs2(p, cloud, 100.0, 100.0); + std::vector obsBuf2; + obsBuf2.push_back(obs2); + + map->updateWorld(0, 0, obsBuf2, obsBuf2); + + for(unsigned int i = 0; i < 100; i++) + for(unsigned int j = 0; j < 100; j++) + ASSERT_EQ(map->getCost(i, j), costmap_2d::FREE_SPACE);*/ +} + +/** + * Test that there is no regression and that costs do not get + * underestimated with the distance-as-key map used to replace + * the previously used priority queue. This is a more thorough + * test of the cost function being correctly applied. + */ +TEST(costmap, testInflationOrderCorrectness){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + layers.resizeMap(10, 10, 1, 0, 0); + + // Footprint with inscribed radius = 2.1 + // circumscribed radius = 3.1 + const double inflation_radius = 4.1; + std::vector polygon = setRadii(layers, 2.1, 2.3, inflation_radius); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + // Add two diagonal cells, they would induce problems under the + // previous implementations + addObservation(olayer, 4, 4, MAX_Z); + addObservation(olayer, 5, 5, MAX_Z); + + layers.updateMap(0, 0, 0); + + validatePointInflation(4, 4, layers.getCostmap(), ilayer, inflation_radius); + validatePointInflation(5, 5, layers.getCostmap(), ilayer, inflation_radius); +} + +/** + * Test inflation for both static and dynamic obstacles + */ +TEST(costmap, testInflation){ + + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + + // Footprint with inscribed radius = 2.1 + // circumscribed radius = 3.1 + std::vector polygon = setRadii(layers, 1, 1, 1); + + addStaticLayer(layers, tf); + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + Costmap2D* costmap = layers.getCostmap(); + + layers.updateMap(0,0,0); + //printMap(*costmap); + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE), (unsigned int)20); + ASSERT_EQ(countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)28); + + /*/ Iterate over all id's and verify they are obstacles + for(std::vector::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){ + unsigned int ind = *it; + unsigned int x, y; + map.indexToCells(ind, x, y); + ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true); + ASSERT_EQ(map.getCost(x, y) == costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + }*/ + + addObservation(olayer, 0, 0, 0.4); + layers.updateMap(0,0,0); + + // It and its 2 neighbors makes 3 obstacles + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE) + countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)51); + + // @todo Rewrite + // Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells + addObservation(olayer, 2, 0); + layers.updateMap(0,0,0); + + // Now we expect insertions for it, and 2 more neighbors, but not all 5. Free space will propagate from + // the origin to the target, clearing the point at <0, 0>, but not over-writing the inflation of the obstacle + // at <0, 1> + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE) + countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)54); + + // Add an obstacle at <1, 9>. This will inflate obstacles around it + addObservation(olayer, 1, 9); + layers.updateMap(0,0,0); + + ASSERT_EQ(costmap->getCost(1, 9), LETHAL_OBSTACLE); + ASSERT_EQ(costmap->getCost(0, 9), INSCRIBED_INFLATED_OBSTACLE); + ASSERT_EQ(costmap->getCost(2, 9), INSCRIBED_INFLATED_OBSTACLE); + + // Add an obstacle and verify that it over-writes its inflated status + addObservation(olayer, 0, 9); + layers.updateMap(0,0,0); + + ASSERT_EQ(costmap->getCost(0, 9), LETHAL_OBSTACLE); +} + +/** + * Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles. + */ +TEST(costmap, testInflation2){ + + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + + // Footprint with inscribed radius = 2.1 + // circumscribed radius = 3.1 + std::vector polygon = setRadii(layers, 1, 1, 1); + + addStaticLayer(layers, tf); + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + // Creat a small L-Shape all at once + addObservation(olayer, 1, 1, MAX_Z); + addObservation(olayer, 2, 1, MAX_Z); + addObservation(olayer, 2, 2, MAX_Z); + layers.updateMap(0,0,0); + + Costmap2D* costmap = layers.getCostmap(); + //printMap(*costmap); + ASSERT_EQ(costmap->getCost(2, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); + ASSERT_EQ(costmap->getCost(3, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); +} + +/** + * Test inflation behavior, starting with an empty map + */ +TEST(costmap, testInflation3){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + layers.resizeMap(10, 10, 1, 0, 0); + + // 1 2 3 + std::vector polygon = setRadii(layers, 1, 1.75, 3); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + InflationLayer* ilayer = addInflationLayer(layers, tf); + layers.setFootprint(polygon); + + // There should be no occupied cells + Costmap2D* costmap = layers.getCostmap(); + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE), (unsigned int)0); + ASSERT_EQ(countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)0); + printMap(*costmap); + // Add an obstacle at 5,5 + addObservation(olayer, 5, 5, MAX_Z); + layers.updateMap(0,0,0); + printMap(*costmap); + + // Test fails because updated cell value is 0 + ASSERT_EQ(countValues(*costmap, FREE_SPACE, false), (unsigned int)29); + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE), (unsigned int)1); + ASSERT_EQ(countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)4); + + // Update again - should see no change + layers.updateMap(0,0,0); + + ASSERT_EQ(countValues(*costmap, FREE_SPACE, false), (unsigned int)29); + ASSERT_EQ(countValues(*costmap, LETHAL_OBSTACLE), (unsigned int)1); + ASSERT_EQ(countValues(*costmap, INSCRIBED_INFLATED_OBSTACLE), (unsigned int)4); +} + + +int main(int argc, char** argv){ + ros::init(argc, argv, "inflation_tests"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/costmap_2d/test/inflation_tests.launch b/src/navigation/costmap_2d/test/inflation_tests.launch new file mode 100644 index 0000000..1c2b2fe --- /dev/null +++ b/src/navigation/costmap_2d/test/inflation_tests.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/navigation/costmap_2d/test/module_tests.cpp b/src/navigation/costmap_2d/test/module_tests.cpp new file mode 100644 index 0000000..52a7df9 --- /dev/null +++ b/src/navigation/costmap_2d/test/module_tests.cpp @@ -0,0 +1,1176 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/** + * @author Conor McGann + * Test harness for Costmap2D + */ + +#include +#include +#include +#include + +using namespace costmap_2d; + +const unsigned char MAP_10_BY_10_CHAR[] = { + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 200, 200, 200, + 0, 0, 0, 0, 100, 0, 0, 200, 200, 200, + 0, 0, 0, 0, 100, 0, 0, 200, 200, 200, + 70, 70, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 200, 200, 200, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, + 0, 0, 0, 0, 0, 0, 0, 255, 255, 255 +}; + +const unsigned char MAP_5_BY_5_CHAR[] = { + 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, +}; + +std::vector MAP_5_BY_5; +std::vector MAP_10_BY_10; +std::vector EMPTY_10_BY_10; +std::vector EMPTY_100_BY_100; + +const unsigned int GRID_WIDTH(10); +const unsigned int GRID_HEIGHT(10); +const double RESOLUTION(1); +const double WINDOW_LENGTH(10); +const unsigned char THRESHOLD(100); +const double MAX_Z(1.0); +const double RAYTRACE_RANGE(20.0); +const double OBSTACLE_RANGE(20.0); +const double ROBOT_RADIUS(1.0); + +bool find(const std::vector& l, unsigned int n){ + for(std::vector::const_iterator it = l.begin(); it != l.end(); ++it){ + if(*it == n) + return true; + } + + return false; +} + +/** + * Tests the reset method + */ +TEST(costmap, testResetForStaticMap){ + // Define a static map with a large object in the center + std::vector staticMap; + for(unsigned int i=0; i<10; i++){ + for(unsigned int j=0; j<10; j++){ + staticMap.push_back(costmap_2d::LETHAL_OBSTACLE); + } + } + + // Allocate the cost map, with a inflation to 3 cells all around + Costmap2D map(10, 10, RESOLUTION, 0.0, 0.0, 3, 3, 3, OBSTACLE_RANGE, MAX_Z, RAYTRACE_RANGE, 25, staticMap, THRESHOLD); + + // Populate the cost map with a wall around the perimeter. Free space should clear out the room. + pcl::PointCloud cloud; + cloud.points.resize(40); + + // Left wall + unsigned int ind = 0; + for (unsigned int i = 0; i < 10; i++){ + // Left + cloud.points[ind].x = 0; + cloud.points[ind].y = i; + cloud.points[ind].z = MAX_Z; + ind++; + + // Top + cloud.points[ind].x = i; + cloud.points[ind].y = 0; + cloud.points[ind].z = MAX_Z; + ind++; + + // Right + cloud.points[ind].x = 9; + cloud.points[ind].y = i; + cloud.points[ind].z = MAX_Z; + ind++; + + // Bottom + cloud.points[ind].x = i; + cloud.points[ind].y = 9; + cloud.points[ind].z = MAX_Z; + ind++; + } + + double wx = 5.0, wy = 5.0; + geometry_msgs::Point p; + p.x = wx; + p.y = wy; + p.z = MAX_Z; + Observation obs(p, cloud, OBSTACLE_RANGE, RAYTRACE_RANGE); + std::vector obsBuf; + obsBuf.push_back(obs); + + // Update the cost map for this observation + map.updateWorld(wx, wy, obsBuf, obsBuf); + + // Verify that we now have only 36 cells with lethal cost, thus provong that we have correctly cleared + // free space + int hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + hitCount++; + } + } + } + ASSERT_EQ(hitCount, 36); + + // Veriy that we have 64 non-leathal + hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE) + hitCount++; + } + } + ASSERT_EQ(hitCount, 64); + + // Now if we reset the cost map, we should have our map go back to being completely occupied + map.resetMapOutsideWindow(wx, wy, 0.0, 0.0); + + //We should now go back to everything being occupied + hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE) + hitCount++; + } + } + ASSERT_EQ(hitCount, 100); + +} + +/** + * Test for the cost function correctness with a larger range and different values + */ +TEST(costmap, testCostFunctionCorrectness){ + Costmap2D map(100, 100, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS * 5.0, ROBOT_RADIUS * 8.0, ROBOT_RADIUS * 10.5, + 100.0, MAX_Z, 100.0, 25, EMPTY_100_BY_100, THRESHOLD); + + // Verify that the circumscribed cost lower bound is as expected: based on the cost function. + unsigned char c = map.computeCost((ROBOT_RADIUS * 8.0 / RESOLUTION)); + ASSERT_EQ(map.getCircumscribedCost(), c); + + // Add a point in the center + pcl::PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 50; + cloud.points[0].y = 50; + cloud.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + for(unsigned int i = 0; i <= (unsigned int)ceil(ROBOT_RADIUS * 5.0); i++){ + // To the right + ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // To the left + ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // Down + ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + // Up + ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + } + + // Verify the normalized cost attenuates as expected + for(unsigned int i = (unsigned int)(ceil(ROBOT_RADIUS * 5.0) + 1); i <= (unsigned int)ceil(ROBOT_RADIUS * 10.5); i++){ + unsigned char expectedValue = map.computeCost(i / RESOLUTION); + ASSERT_EQ(map.getCost(50 + i, 50), expectedValue); + } + + // Update with no hits. Should clear (revert to the static map + map.resetMapOutsideWindow(0, 0, 0.0, 0.0); + cloud.points.resize(0); + + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs2(p, cloud, 100.0, 100.0); + std::vector obsBuf2; + obsBuf2.push_back(obs2); + + map.updateWorld(0, 0, obsBuf2, obsBuf2); + + for(unsigned int i = 0; i < 100; i++) + for(unsigned int j = 0; j < 100; j++) + ASSERT_EQ(map.getCost(i, j), costmap_2d::FREE_SPACE); +} + +char printableCost( unsigned char cost ) +{ + switch( cost ) + { + case NO_INFORMATION: return '?'; + case LETHAL_OBSTACLE: return 'L'; + case INSCRIBED_INFLATED_OBSTACLE: return 'I'; + case FREE_SPACE: return '.'; + default: return '0' + (unsigned char) (10 * cost / 255); + } +} + +/** + * Test for wave interference + */ +TEST(costmap, testWaveInterference){ + // Start with an empty map + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS * 2, ROBOT_RADIUS * 3.01, + 10.0, MAX_Z * 2, 10.0, 1, EMPTY_10_BY_10, THRESHOLD); + + // Lay out 3 obstacles in a line - along the diagonal, separated by a cell. + pcl::PointCloud cloud; + cloud.points.resize(3); + cloud.points[0].x = 3; + cloud.points[0].y = 3; + cloud.points[0].z = MAX_Z; + cloud.points[1].x = 5; + cloud.points[1].y = 5; + cloud.points[1].z = MAX_Z; + cloud.points[2].x = 7; + cloud.points[2].y = 7; + cloud.points[2].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + int update_count = 0; + + // Expect to see a union of obstacles + printf("map:\n"); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) != costmap_2d::FREE_SPACE){ + update_count++; + } + printf("%c", printableCost( map.getCost( i, j ))); + } + printf("\n"); + } + + ASSERT_EQ(update_count, 79); +} + +/** Test for copying a window of a costmap */ +TEST(costmap, testWindowCopy){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + /* + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + printf("%3d ", map.getCost(i, j)); + } + printf("\n"); + } + printf("\n"); + */ + + Costmap2D windowCopy; + + //first test that if we try to make a window that is too big, things fail + windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 12.0); + ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)0); + ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)0); + + //Next, test that trying to make a map window itself fails + map.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10); + + //Next, test that legal input generates the result that we expect + windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0); + ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)6); + ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)6); + + //check that we actually get the windo that we expect + for(unsigned int i = 0; i < windowCopy.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < windowCopy.getSizeInCellsY(); ++j){ + ASSERT_EQ(windowCopy.getCost(i, j), map.getCost(i + 2, j + 2)); + //printf("%3d ", windowCopy.getCost(i, j)); + } + //printf("\n"); + } + +} + +//test for updating costmaps with static data +TEST(costmap, testFullyContainedStaticMapUpdate){ + Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD); + + Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + map.updateStaticMapWindow(0, 0, 10, 10, MAP_10_BY_10); + + for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){ + ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j)); + } + } +} + +TEST(costmap, testOverlapStaticMapUpdate){ + Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD); + + Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + map.updateStaticMapWindow(-10, -10, 10, 10, MAP_10_BY_10); + + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j)); + } + } + + std::vector blank(100); + + //check to make sure that inflation on updates are being done correctly + map.updateStaticMapWindow(-10, -10, 10, 10, blank); + + for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){ + ASSERT_EQ(map.getCost(i, j), 0); + } + } + + std::vector fully_contained(25); + fully_contained[0] = 254; + fully_contained[4] = 254; + fully_contained[5] = 254; + fully_contained[9] = 254; + + Costmap2D small_static_map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, fully_contained, THRESHOLD); + + map.updateStaticMapWindow(0, 0, 5, 5, fully_contained); + + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15); + for(unsigned int j = 0; j < 5; ++j){ + for(unsigned int i = 0; i < 5; ++i){ + ASSERT_EQ(map.getCost(i + 10, j + 10), small_static_map.getCost(i, j)); + } + } + +} + +/** + * Test for ray tracing free space + */ +TEST(costmap, testRaytracing){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // Add a point cloud, should not affect the map + pcl::PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 0; + cloud.points[0].y = 0; + cloud.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + int lethal_count = 0; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + lethal_count++; + } + } + } + + //we expect just one obstacle to be added + ASSERT_EQ(lethal_count, 21); +} + +TEST(costmap, testAdjacentToObstacleCanStillMove){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, 2.1, 3.1, 4.1, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + pcl::PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 0; + cloud.points[0].y = 0; + cloud.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(9, 9, obsBuf, obsBuf); + + EXPECT_EQ( LETHAL_OBSTACLE, map.getCost( 0, 0 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 1, 0 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 2, 0 )); + EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > map.getCost( 3, 0 )); + EXPECT_TRUE( INSCRIBED_INFLATED_OBSTACLE > map.getCost( 2, 1 )); + EXPECT_EQ( INSCRIBED_INFLATED_OBSTACLE, map.getCost( 1, 1 )); +} + +TEST(costmap, testInflationShouldNotCreateUnknowns){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, 2.1, 3.1, 4.1, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + pcl::PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 0; + cloud.points[0].y = 0; + cloud.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(9, 9, obsBuf, obsBuf); + + int unknown_count = 0; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::NO_INFORMATION){ + unknown_count++; + } + } + } + EXPECT_EQ( 0, unknown_count ); +} + +unsigned int worldToIndex(Costmap2D& map, double wx, double wy){ + unsigned int mx, my; + map.worldToMap(wx, wy, mx, my); + return map.getIndex(mx, my); +} + +void indexToWorld(Costmap2D& map, unsigned int index, double& wx, double& wy){ + unsigned int mx, my; + map.indexToCells(index, mx, my); + map.mapToWorld(mx, my, wx, wy); +} + +TEST(costmap, testStaticMap){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10); + + // Verify that obstacles correctly identified from the static map. + std::vector occupiedCells; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + occupiedCells.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(occupiedCells.size(), (unsigned int)20); + + // Iterate over all id's and verify that they are present according to their + for(std::vector::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){ + unsigned int ind = *it; + unsigned int x, y; + map.indexToCells(ind, x, y); + ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true); + ASSERT_EQ(MAP_10_BY_10[ind] >= 100, true); + ASSERT_EQ(map.getCost(x, y) >= 100, true); + } + + // Block of 200 + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 4)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 4)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 4)), true); + + // Block of 100 + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 4)), true); + + // Block of 200 + ASSERT_EQ(find(occupiedCells, map.getIndex(3, 7)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 7)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(5, 7)), true); + + + // Verify Coordinate Transformations, ROW MAJOR ORDER + ASSERT_EQ(worldToIndex(map, 0.0, 0.0), (unsigned int)0); + ASSERT_EQ(worldToIndex(map, 0.0, 0.99), (unsigned int)0); + ASSERT_EQ(worldToIndex(map, 0.0, 1.0), (unsigned int)10); + ASSERT_EQ(worldToIndex(map, 1.0, 0.99), (unsigned int)1); + ASSERT_EQ(worldToIndex(map, 9.99, 9.99), (unsigned int)99); + ASSERT_EQ(worldToIndex(map, 8.2, 3.4), (unsigned int)38); + + // Ensure we hit the middle of the cell for world co-ordinates + double wx, wy; + indexToWorld(map, 99, wx, wy); + ASSERT_EQ(wx, 9.5); + ASSERT_EQ(wy, 9.5); +} + + +/** + * Verify that dynamic obstacles are added + */ + +TEST(costmap, testDynamicObstacles){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // Add a point cloud and verify its insertion. There should be only one new one + pcl::PointCloud cloud; + cloud.points.resize(3); + cloud.points[0].x = 0; + cloud.points[0].y = 0; + cloud.points[1].x = 0; + cloud.points[1].y = 0; + cloud.points[2].x = 0; + cloud.points[2].y = 0; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + std::vector ids; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + // Should now have 1 insertion and no deletions + ASSERT_EQ(ids.size(), (unsigned int)21); + + // Repeating the call - we should see no insertions or deletions + map.updateWorld(0, 0, obsBuf, obsBuf); + ASSERT_EQ(ids.size(), (unsigned int)21); +} + +/** + * Verify that if we add a point that is already a static obstacle we do not end up with a new ostacle + */ +TEST(costmap, testMultipleAdditions){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // A point cloud with one point that falls within an existing obstacle + pcl::PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 7; + cloud.points[0].y = 2; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, cloud, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + std::vector ids; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)20); +} + +/** + * Make sure we ignore points outside of our z threshold + */ +TEST(costmap, testZThreshold){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // A point cloud with 2 points falling in a cell with a non-lethal cost + pcl::PointCloud c0; + c0.points.resize(2); + c0.points[0].x = 0; + c0.points[0].y = 5; + c0.points[0].z = 0.4; + c0.points[1].x = 1; + c0.points[1].y = 5; + c0.points[1].z = 1.2; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, c0, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + std::vector ids; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)21); +} + +/** + * Test inflation for both static and dynamic obstacles + */ + +TEST(costmap, testInflation){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // Verify that obstacles correctly identified + std::vector occupiedCells; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + occupiedCells.push_back(map.getIndex(i, j)); + } + } + } + + // There should be no duplicates + std::set setOfCells; + for(unsigned int i=0;i::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){ + unsigned int ind = *it; + unsigned int x, y; + map.indexToCells(ind, x, y); + ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true); + ASSERT_EQ(map.getCost(x, y) == costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true); + } + + // Set an obstacle at the origin and observe insertions for it and its neighbors + pcl::PointCloud c0; + c0.points.resize(1); + c0.points[0].x = 0; + c0.points[0].y = 0; + c0.points[0].z = 0.4; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, c0, 100.0, 100.0); + std::vector obsBuf, empty; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, empty); + + occupiedCells.clear(); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + occupiedCells.push_back(map.getIndex(i, j)); + } + } + } + + // It and its 2 neighbors makes 3 obstacles + ASSERT_EQ(occupiedCells.size(), (unsigned int)51); + + // @todo Rewrite + // Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells + pcl::PointCloud c1; + c1.points.resize(1); + c1.points[0].x = 2; + c1.points[0].y = 0; + c1.points[0].z = 0.0; + + geometry_msgs::Point p1; + p1.x = 0.0; + p1.y = 0.0; + p1.z = MAX_Z; + + Observation obs1(p1, c1, 100.0, 100.0); + std::vector obsBuf1; + obsBuf1.push_back(obs1); + + map.updateWorld(0, 0, obsBuf1, empty); + + occupiedCells.clear(); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + occupiedCells.push_back(map.getIndex(i, j)); + } + } + } + + // Now we expect insertions for it, and 2 more neighbors, but not all 5. Free space will propagate from + // the origin to the target, clearing the point at <0, 0>, but not over-writing the inflation of the obstacle + // at <0, 1> + ASSERT_EQ(occupiedCells.size(), (unsigned int)54); + + + // Add an obstacle at <1, 9>. This will inflate obstacles around it + pcl::PointCloud c2; + c2.points.resize(1); + c2.points[0].x = 1; + c2.points[0].y = 9; + c2.points[0].z = 0.0; + + geometry_msgs::Point p2; + p2.x = 0.0; + p2.y = 0.0; + p2.z = MAX_Z; + + Observation obs2(p2, c2, 100.0, 100.0); + std::vector obsBuf2; + obsBuf2.push_back(obs2); + + map.updateWorld(0, 0, obsBuf2, empty); + + ASSERT_EQ(map.getCost(1, 9), costmap_2d::LETHAL_OBSTACLE); + ASSERT_EQ(map.getCost(0, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); + ASSERT_EQ(map.getCost(2, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); + + // Add an obstacle and verify that it over-writes its inflated status + pcl::PointCloud c3; + c3.points.resize(1); + c3.points[0].x = 0; + c3.points[0].y = 9; + c3.points[0].z = 0.0; + + geometry_msgs::Point p3; + p3.x = 0.0; + p3.y = 0.0; + p3.z = MAX_Z; + + Observation obs3(p3, c3, 100.0, 100.0); + std::vector obsBuf3; + obsBuf3.push_back(obs3); + + map.updateWorld(0, 0, obsBuf3, empty); + + ASSERT_EQ(map.getCost(0, 9), costmap_2d::LETHAL_OBSTACLE); +} + +/** + * Test specific inflation scenario to ensure we do not set inflated obstacles to be raw obstacles. + */ +TEST(costmap, testInflation2){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + // Creat a small L-Shape all at once + pcl::PointCloud c0; + c0.points.resize(3); + c0.points[0].x = 1; + c0.points[0].y = 1; + c0.points[0].z = MAX_Z; + c0.points[1].x = 1; + c0.points[1].y = 2; + c0.points[1].z = MAX_Z; + c0.points[2].x = 2; + c0.points[2].y = 2; + c0.points[2].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, c0, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + ASSERT_EQ(map.getCost(3, 2), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); + ASSERT_EQ(map.getCost(3, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE); +} + +/** + * Test inflation behavior, starting with an empty map + */ +TEST(costmap, testInflation3){ + std::vector mapData; + for(unsigned int i=0; i< GRID_WIDTH; i++){ + for(unsigned int j = 0; j < GRID_HEIGHT; j++){ + mapData.push_back(0); + } + } + + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS * 2, ROBOT_RADIUS * 3, + 10.0, MAX_Z, 10.0, 1, mapData, THRESHOLD); + + // There should be no occupied cells + std::vector ids; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)0); + + // Add an obstacle at 5,5 + pcl::PointCloud c0; + c0.points.resize(1); + c0.points[0].x = 5; + c0.points[0].y = 5; + c0.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.0; + p.y = 0.0; + p.z = MAX_Z; + + Observation obs(p, c0, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) != costmap_2d::FREE_SPACE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)29); + + ids.clear(); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)5); + + // Update again - should see no change + map.updateWorld(0, 0, obsBuf, obsBuf); + + ids.clear(); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) != costmap_2d::FREE_SPACE){ + ids.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(ids.size(), (unsigned int)29); +} + +/** + * Test for ray tracing free space + */ + +TEST(costmap, testRaytracing2){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 100.0, MAX_Z, 100.0, 1, MAP_10_BY_10, THRESHOLD); + + // The sensor origin will be <0,0>. So if we add an obstacle at 9,9, we would expect cells + // <0, 0> thru <8, 8> to be traced through + pcl::PointCloud c0; + c0.points.resize(1); + c0.points[0].x = 9.5; + c0.points[0].y = 9.5; + c0.points[0].z = MAX_Z; + + geometry_msgs::Point p; + p.x = 0.5; + p.y = 0.5; + p.z = MAX_Z; + + Observation obs(p, c0, 100.0, 100.0); + std::vector obsBuf; + obsBuf.push_back(obs); + + std::vector obstacles; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + obstacles.push_back(map.getIndex(i, j)); + } + } + } + + unsigned int obs_before = obstacles.size(); + + map.updateWorld(0, 0, obsBuf, obsBuf); + + obstacles.clear(); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + obstacles.push_back(map.getIndex(i, j)); + } + } + } + + //Two obstacles shoulb be removed from the map by raytracing + ASSERT_EQ(obstacles.size(), obs_before - 2); + + + // many cells will have been switched to free space along the diagonal except + // for those inflated in the update.. tests that inflation happens properly + // after raytracing + unsigned char test[10]= {0, 0, 0, 253, 253, 0, 0, 253, 253, 254}; + for(unsigned int i=0; i < 10; i++) + ASSERT_EQ(map.getCost(i, i), test[i]); +} + +/** + * Within a certian radius of the robot, the cost map most propagate obstacles. This + * is to avoid a case where a hit on a far obstacle clears inscribed radius around a + * near one. + */ + +TEST(costmap, testTrickyPropagation){ + const unsigned char MAP_HALL_CHAR[10 * 10] = { + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 254, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 254, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + }; + std::vector MAP_HALL; + for (int i = 0; i < 10 * 10; i++) { + MAP_HALL.push_back(MAP_HALL_CHAR[i]); + } + + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 100.0, MAX_Z, 100.0, 1, MAP_HALL, THRESHOLD); + + + //Add a dynamic obstacle + pcl::PointCloud c2; + c2.points.resize(3); + //Dynamic obstacle that raytaces. + c2.points[0].x = 7.0; + c2.points[0].y = 8.0; + c2.points[0].z = 1.0; + //Dynamic obstacle that should not be raytraced the + //first update, but should on the second. + c2.points[1].x = 3.0; + c2.points[1].y = 4.0; + c2.points[1].z = 1.0; + //Dynamic obstacle that should not be erased. + c2.points[2].x = 6.0; + c2.points[2].y = 3.0; + c2.points[2].z = 1.0; + + geometry_msgs::Point p2; + p2.x = 0.5; + p2.y = 0.5; + p2.z = MAX_Z; + + Observation obs2(p2, c2, 100.0, 100.0); + std::vector obsBuf2; + obsBuf2.push_back(obs2); + + map.updateWorld(0, 0, obsBuf2, obsBuf2); + + const unsigned char MAP_HALL_CHAR_TEST[10 * 10] = { + 253, 254, 253, 0, 0, 0, 0, 0, 0, 0, + 0, 253, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 253, 0, 0, 0, 0, 0, + 0, 0, 0, 253, 254, 253, 0, 0, 0, 0, + 0, 0, 0, 0, 253, 0, 0, 253, 0, 0, + 0, 0, 0, 253, 0, 0, 253, 254, 253, 0, + 0, 0, 253, 254, 253, 0, 0, 253, 253, 0, + 0, 0, 0, 253, 0, 0, 0, 253, 254, 253, + 0, 0, 0, 0, 0, 0, 0, 0, 253, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + }; + + + for (int i = 0; i < 10 * 10; i++) { + ASSERT_EQ(map.getCost(i / 10, i % 10), MAP_HALL_CHAR_TEST[i]); + } + + pcl::PointCloud c; + c.points.resize(1); + //Dynamic obstacle that raytaces the one at (3.0, 4.0). + c.points[0].x = 4.0; + c.points[0].y = 5.0; + c.points[0].z = 1.0; + + geometry_msgs::Point p3; + p3.x = 0.5; + p3.y = 0.5; + p3.z = MAX_Z; + + Observation obs3(p3, c, 100.0, 100.0); + std::vector obsBuf3; + obsBuf3.push_back(obs3); + + map.updateWorld(0, 0, obsBuf3, obsBuf3); + + const unsigned char MAP_HALL_CHAR_TEST2[10 * 10] = { + 253, 254, 253, 0, 0, 0, 0, 0, 0, 0, + 0, 253, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 253, 0, 0, 0, 0, + 0, 0, 0, 0, 253, 254, 253, 253, 0, 0, + 0, 0, 0, 253, 0, 253, 253, 254, 253, 0, + 0, 0, 253, 254, 253, 0, 0, 253, 253, 0, + 0, 0, 0, 253, 0, 0, 0, 253, 254, 253, + 0, 0, 0, 0, 0, 0, 0, 0, 253, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + }; + + + for (int i = 0; i < 10 * 10; i++) { + ASSERT_EQ(map.getCost(i / 10, i % 10), MAP_HALL_CHAR_TEST2[i]); + } +} + + + +int main(int argc, char** argv){ + for(unsigned int i = 0; i< GRID_WIDTH * GRID_HEIGHT; i++){ + EMPTY_10_BY_10.push_back(0); + MAP_10_BY_10.push_back(MAP_10_BY_10_CHAR[i]); + } + + for(unsigned int i = 0; i< 5 * 5; i++){ + MAP_5_BY_5.push_back(MAP_10_BY_10_CHAR[i]); + } + + for(unsigned int i = 0; i< 100 * 100; i++) + EMPTY_100_BY_100.push_back(0); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/costmap_2d/test/obstacle_tests.cpp b/src/navigation/costmap_2d/test/obstacle_tests.cpp new file mode 100644 index 0000000..2b2fe37 --- /dev/null +++ b/src/navigation/costmap_2d/test/obstacle_tests.cpp @@ -0,0 +1,251 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/** + * @author David Lu!! + * Test harness for ObstacleLayer for Costmap2D + */ + +#include +#include +#include +#include +#include +#include + +using namespace costmap_2d; + +/* + * For reference, the static map looks like this: + * + * 0 0 0 0 0 0 0 254 254 254 + * + * 0 0 0 0 0 0 0 254 254 254 + * + * 0 0 0 254 254 254 0 0 0 0 + * + * 0 0 0 0 0 0 0 0 0 0 + * + * 0 0 0 0 0 0 0 0 0 0 + * + * 0 0 0 0 254 0 0 254 254 254 + * + * 0 0 0 0 254 0 0 254 254 254 + * + * 0 0 0 0 0 0 0 254 254 254 + * + * 0 0 0 0 0 0 0 0 0 0 + * + * 0 0 0 0 0 0 0 0 0 0 + * + * upper left is 0,0, lower right is 9,9 + */ + +/** + * Test for ray tracing free space + */ +TEST(costmap, testRaytracing){ + tf2_ros::Buffer tf; + + LayeredCostmap layers("frame", false, false); // Not rolling window, not tracking unknown + addStaticLayer(layers, tf); // This adds the static map + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + // Add a point at 0, 0, 0 + addObservation(olayer, 0.0, 0.0, MAX_Z/2, 0, 0, MAX_Z/2); + + // This actually puts the LETHAL (254) point in the costmap at (0,0) + layers.updateMap(0,0,0); // 0, 0, 0 is robot pose + //printMap(*(layers.getCostmap())); + + int lethal_count = countValues(*(layers.getCostmap()), LETHAL_OBSTACLE); + + // We expect just one obstacle to be added (20 in static map) + ASSERT_EQ(lethal_count, 21); +} + +/** + * Test for ray tracing free space + */ +TEST(costmap, testRaytracing2){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + addStaticLayer(layers, tf); + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + //If we print map now, it is 10x10 all value 0 + //printMap(*(layers.getCostmap())); + + // Update will fill in the costmap with the static map + layers.updateMap(0,0,0); + + //If we print the map now, we get the static map + //printMap(*(layers.getCostmap())); + + // Static map has 20 LETHAL cells (see diagram above) + int obs_before = countValues(*(layers.getCostmap()), LETHAL_OBSTACLE); + ASSERT_EQ(obs_before, 20); + + // The sensor origin will be <0,0>. So if we add an obstacle at 9,9, + // we would expect cells <0, 0> thru <8, 8> to be traced through + // however the static map is not cleared by obstacle layer + addObservation(olayer, 9.5, 9.5, MAX_Z/2, 0.5, 0.5, MAX_Z/2); + layers.updateMap(0, 0, 0); + + // If we print map now, we have static map + <9,9> is LETHAL + //printMap(*(layers.getCostmap())); + int obs_after = countValues(*(layers.getCostmap()), LETHAL_OBSTACLE); + + // Change from previous test: + // No obstacles from the static map will be cleared, so the + // net change is +1. + ASSERT_EQ(obs_after, obs_before + 1); + + // Fill in the diagonal, <7,7> and <9,9> already filled in, <0,0> is robot + for(int i = 0; i < olayer->getSizeInCellsY(); ++i) + { + olayer->setCost(i, i, LETHAL_OBSTACLE); + } + // This will updateBounds, which will raytrace the static observation added + // above, thus clearing out the diagonal again! + layers.updateMap(0, 0, 0); + + // Map now has diagonal except <0,0> filled with LETHAL (254) + //printMap(*(layers.getCostmap())); + int with_static = countValues(*(layers.getCostmap()), LETHAL_OBSTACLE); + + // Should thus be the same + ASSERT_EQ(with_static, obs_after); + // If 21 are filled, 79 should be free + ASSERT_EQ(79, countValues(*(layers.getCostmap()), costmap_2d::FREE_SPACE)); +} + +/** + * Test for wave interference + */ +TEST(costmap, testWaveInterference){ + tf2_ros::Buffer tf; + + // Start with an empty map, no rolling window, tracking unknown + LayeredCostmap layers("frame", false, true); + layers.resizeMap(10, 10, 1, 0, 0); + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + // If we print map now, it is 10x10, all cells are 255 (NO_INFORMATION) + //printMap(*(layers.getCostmap())); + + // Lay out 3 obstacles in a line - along the diagonal, separated by a cell. + addObservation(olayer, 3.0, 3.0, MAX_Z); + addObservation(olayer, 5.0, 5.0, MAX_Z); + addObservation(olayer, 7.0, 7.0, MAX_Z); + layers.updateMap(0,0,0); + + Costmap2D* costmap = layers.getCostmap(); + // 3 obstacle cells are filled, <1,1>,<2,2>,<4,4> and <6,6> are now free + // <0,0> is footprint and is free + //printMap(*costmap); + ASSERT_EQ(3, countValues(*costmap, costmap_2d::LETHAL_OBSTACLE)); + ASSERT_EQ(92, countValues(*costmap, costmap_2d::NO_INFORMATION)); + ASSERT_EQ(5, countValues(*costmap, costmap_2d::FREE_SPACE)); +} + +/** + * Make sure we ignore points outside of our z threshold + */ +TEST(costmap, testZThreshold){ + tf2_ros::Buffer tf; + // Start with an empty map + LayeredCostmap layers("frame", false, true); + layers.resizeMap(10, 10, 1, 0, 0); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + // A point cloud with 2 points falling in a cell with a non-lethal cost + addObservation(olayer, 0.0, 5.0, 0.4); + addObservation(olayer, 1.0, 5.0, 2.2); + + layers.updateMap(0,0,0); + + Costmap2D* costmap = layers.getCostmap(); + ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 1); +} + + +/** + * Verify that dynamic obstacles are added + */ +TEST(costmap, testDynamicObstacles){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + addStaticLayer(layers, tf); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + // Add a point cloud and verify its insertion. There should be only one new one + addObservation(olayer, 0.0, 0.0); + addObservation(olayer, 0.0, 0.0); + addObservation(olayer, 0.0, 0.0); + + layers.updateMap(0,0,0); + + Costmap2D* costmap = layers.getCostmap(); + // Should now have 1 insertion and no deletions + ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 21); + + // Repeating the call - we should see no insertions or deletions + ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 21); +} + + +/** + * Verify that if we add a point that is already a static obstacle we do not end up with a new ostacle + */ +TEST(costmap, testMultipleAdditions){ + tf2_ros::Buffer tf; + LayeredCostmap layers("frame", false, false); + addStaticLayer(layers, tf); + + ObstacleLayer* olayer = addObstacleLayer(layers, tf); + + // A point cloud with one point that falls within an existing obstacle + addObservation(olayer, 9.5, 0.0); + layers.updateMap(0,0,0); + Costmap2D* costmap = layers.getCostmap(); + //printMap(*costmap); + + ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 20); + +} + + +int main(int argc, char** argv){ + ros::init(argc, argv, "obstacle_tests"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/costmap_2d/test/obstacle_tests.launch b/src/navigation/costmap_2d/test/obstacle_tests.launch new file mode 100644 index 0000000..d94cfab --- /dev/null +++ b/src/navigation/costmap_2d/test/obstacle_tests.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/navigation/costmap_2d/test/simple_driving_test.xml b/src/navigation/costmap_2d/test/simple_driving_test.xml new file mode 100644 index 0000000..6bf507d --- /dev/null +++ b/src/navigation/costmap_2d/test/simple_driving_test.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/src/navigation/costmap_2d/test/static_tests.cpp b/src/navigation/costmap_2d/test/static_tests.cpp new file mode 100644 index 0000000..714ceba --- /dev/null +++ b/src/navigation/costmap_2d/test/static_tests.cpp @@ -0,0 +1,330 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/** + * @author David Lu!! + * Test harness for StaticMap Layer for Costmap2D + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace costmap_2d; + + +/** + * Tests the reset method + * +TEST(costmap, testResetForStaticMap){ + // Define a static map with a large object in the center + std::vector staticMap; + for(unsigned int i=0; i<10; i++){ + for(unsigned int j=0; j<10; j++){ + staticMap.push_back(costmap_2d::LETHAL_OBSTACLE); + } + } + + // Allocate the cost map, with a inflation to 3 cells all around + Costmap2D map(10, 10, RESOLUTION, 0.0, 0.0, 3, 3, 3, OBSTACLE_RANGE, MAX_Z, RAYTRACE_RANGE, 25, staticMap, THRESHOLD); + + // Populate the cost map with a wall around the perimeter. Free space should clear out the room. + pcl::PointCloud cloud; + cloud.points.resize(40); + + // Left wall + unsigned int ind = 0; + for (unsigned int i = 0; i < 10; i++){ + // Left + cloud.points[ind].x = 0; + cloud.points[ind].y = i; + cloud.points[ind].z = MAX_Z; + ind++; + + // Top + cloud.points[ind].x = i; + cloud.points[ind].y = 0; + cloud.points[ind].z = MAX_Z; + ind++; + + // Right + cloud.points[ind].x = 9; + cloud.points[ind].y = i; + cloud.points[ind].z = MAX_Z; + ind++; + + // Bottom + cloud.points[ind].x = i; + cloud.points[ind].y = 9; + cloud.points[ind].z = MAX_Z; + ind++; + } + + double wx = 5.0, wy = 5.0; + geometry_msgs::Point p; + p.x = wx; + p.y = wy; + p.z = MAX_Z; + Observation obs(p, cloud, OBSTACLE_RANGE, RAYTRACE_RANGE); + std::vector obsBuf; + obsBuf.push_back(obs); + + // Update the cost map for this observation + map.updateWorld(wx, wy, obsBuf, obsBuf); + + // Verify that we now have only 36 cells with lethal cost, thus provong that we have correctly cleared + // free space + int hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + hitCount++; + } + } + } + ASSERT_EQ(hitCount, 36); + + // Veriy that we have 64 non-leathal + hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE) + hitCount++; + } + } + ASSERT_EQ(hitCount, 64); + + // Now if we reset the cost map, we should have our map go back to being completely occupied + map.resetMapOutsideWindow(wx, wy, 0.0, 0.0); + + //We should now go back to everything being occupied + hitCount = 0; + for(unsigned int i=0; i < 10; ++i){ + for(unsigned int j=0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE) + hitCount++; + } + } + ASSERT_EQ(hitCount, 100); + +} + +/** Test for copying a window of a costmap * +TEST(costmap, testWindowCopy){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + /* + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + printf("%3d ", map.getCost(i, j)); + } + printf("\n"); + } + printf("\n"); + * + + Costmap2D windowCopy; + + //first test that if we try to make a window that is too big, things fail + windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 12.0); + ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)0); + ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)0); + + //Next, test that trying to make a map window itself fails + map.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10); + + //Next, test that legal input generates the result that we expect + windowCopy.copyCostmapWindow(map, 2.0, 2.0, 6.0, 6.0); + ASSERT_EQ(windowCopy.getSizeInCellsX(), (unsigned int)6); + ASSERT_EQ(windowCopy.getSizeInCellsY(), (unsigned int)6); + + //check that we actually get the windo that we expect + for(unsigned int i = 0; i < windowCopy.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < windowCopy.getSizeInCellsY(); ++j){ + ASSERT_EQ(windowCopy.getCost(i, j), map.getCost(i + 2, j + 2)); + //printf("%3d ", windowCopy.getCost(i, j)); + } + //printf("\n"); + } + +} + +//test for updating costmaps with static data +TEST(costmap, testFullyContainedStaticMapUpdate){ + Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD); + + Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + map.updateStaticMapWindow(0, 0, 10, 10, MAP_10_BY_10); + + for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){ + ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j)); + } + } +} + +TEST(costmap, testOverlapStaticMapUpdate){ + Costmap2D map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_5_BY_5, THRESHOLD); + + Costmap2D static_map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + map.updateStaticMapWindow(-10, -10, 10, 10, MAP_10_BY_10); + + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15); + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + ASSERT_EQ(map.getCost(i, j), static_map.getCost(i, j)); + } + } + + std::vector blank(100); + + //check to make sure that inflation on updates are being done correctly + map.updateStaticMapWindow(-10, -10, 10, 10, blank); + + for(unsigned int i = 0; i < map.getSizeInCellsX(); ++i){ + for(unsigned int j = 0; j < map.getSizeInCellsY(); ++j){ + ASSERT_EQ(map.getCost(i, j), 0); + } + } + + std::vector fully_contained(25); + fully_contained[0] = 254; + fully_contained[4] = 254; + fully_contained[5] = 254; + fully_contained[9] = 254; + + Costmap2D small_static_map(5, 5, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, fully_contained, THRESHOLD); + + map.updateStaticMapWindow(0, 0, 5, 5, fully_contained); + + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_FLOAT_EQ(map.getOriginX(), -10); + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)15); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)15); + for(unsigned int j = 0; j < 5; ++j){ + for(unsigned int i = 0; i < 5; ++i){ + ASSERT_EQ(map.getCost(i + 10, j + 10), small_static_map.getCost(i, j)); + } + } + +} + + +TEST(costmap, testStaticMap){ + Costmap2D map(GRID_WIDTH, GRID_HEIGHT, RESOLUTION, 0.0, 0.0, ROBOT_RADIUS, ROBOT_RADIUS, ROBOT_RADIUS, + 10.0, MAX_Z, 10.0, 25, MAP_10_BY_10, THRESHOLD); + + ASSERT_EQ(map.getSizeInCellsX(), (unsigned int)10); + ASSERT_EQ(map.getSizeInCellsY(), (unsigned int)10); + + // Verify that obstacles correctly identified from the static map. + std::vector occupiedCells; + + for(unsigned int i = 0; i < 10; ++i){ + for(unsigned int j = 0; j < 10; ++j){ + if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){ + occupiedCells.push_back(map.getIndex(i, j)); + } + } + } + + ASSERT_EQ(occupiedCells.size(), (unsigned int)20); + + // Iterate over all id's and verify that they are present according to their + for(std::vector::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){ + unsigned int ind = *it; + unsigned int x, y; + map.indexToCells(ind, x, y); + ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true); + ASSERT_EQ(MAP_10_BY_10[ind] >= 100, true); + ASSERT_EQ(map.getCost(x, y) >= 100, true); + } + + // Block of 200 + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 2)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(7, 4)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(8, 4)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(9, 4)), true); + + // Block of 100 + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 3)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 4)), true); + + // Block of 200 + ASSERT_EQ(find(occupiedCells, map.getIndex(3, 7)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(4, 7)), true); + ASSERT_EQ(find(occupiedCells, map.getIndex(5, 7)), true); + + + // Verify Coordinate Transformations, ROW MAJOR ORDER + ASSERT_EQ(worldToIndex(map, 0.0, 0.0), (unsigned int)0); + ASSERT_EQ(worldToIndex(map, 0.0, 0.99), (unsigned int)0); + ASSERT_EQ(worldToIndex(map, 0.0, 1.0), (unsigned int)10); + ASSERT_EQ(worldToIndex(map, 1.0, 0.99), (unsigned int)1); + ASSERT_EQ(worldToIndex(map, 9.99, 9.99), (unsigned int)99); + ASSERT_EQ(worldToIndex(map, 8.2, 3.4), (unsigned int)38); + + // Ensure we hit the middle of the cell for world co-ordinates + double wx, wy; + indexToWorld(map, 99, wx, wy); + ASSERT_EQ(wx, 9.5); + ASSERT_EQ(wy, 9.5); +} + +//*/ + + +int main(int argc, char** argv){ + ros::init(argc, argv, "obstacle_tests"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/costmap_2d/test/static_tests.launch b/src/navigation/costmap_2d/test/static_tests.launch new file mode 100644 index 0000000..23a4ba9 --- /dev/null +++ b/src/navigation/costmap_2d/test/static_tests.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/navigation/dwa_local_planner/CHANGELOG.rst b/src/navigation/dwa_local_planner/CHANGELOG.rst new file mode 100644 index 0000000..ff85883 --- /dev/null +++ b/src/navigation/dwa_local_planner/CHANGELOG.rst @@ -0,0 +1,150 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dwa_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Fixes gdist- and pdist_scale node paramter names (`#936 `_) + Renames goal and path distance dynamic reconfigure parameter + names in the cfg file in order to actually make the parameters + used by the trajectory planner changeable. + Fixes `#935 `_ +* Contributors: David Leins + +1.16.3 (2019-11-15) +------------------- +* Set footprint before in place rotation continuation (`#829 `_) (`#861 `_) + * Make sure to call setFootprint() before an in-place rotation + * Change to const reference + * Remove footprint from findBestPath +* Contributors: David V. Lu!! + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix depends for dwa_local_planner + * add tf2_geometry_msgs (due to https://github.com/ros/geometry2/issues/275) + * add missing depends on angles, sensor_msgs, tf2 +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Merge pull request `#765 `_ from ros-planning/remove_pcl + remove left over PCL depends in dwa_local_planner +* Remove PCL from local planners +* Switch to TF2 `#755 `_ +* Make trajectory scoring scales consistent. +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* Contributors: David V. Lu, Michael Ferguson, Pavlo Kolomiiets, Vincent Rabaud, moriarty + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Add cost function to prevent unnecessary spinning +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* remove GCC warnings +* Fix CMake warnings +* Contributors: Martin Günther, Mikael Arguedas, Morgan Quigley, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- +* link only libraries found with find_package +* Contributors: Lukas Bulwahn + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* Fix for `#5 `_ +* Parameter to sum scores in DWA Planner +* Keep consistent allignment_cost scale + Use the configured alignment cost instead of resetting to 1.0. This + condition (farther from goal than forward_point_distance) is probably + met at the start of navigation, it seems this cost should be obeyed + until the robot gets close, then ignored completely. +* Cheat factor for end of DWA Plans +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Changed new Odom-Helper::initialize() function to setOdomTopic(). +* some more corrections for the pointcloud object bug diff --git a/src/navigation/dwa_local_planner/CMakeLists.txt b/src/navigation/dwa_local_planner/CMakeLists.txt new file mode 100644 index 0000000..0bb8b29 --- /dev/null +++ b/src/navigation/dwa_local_planner/CMakeLists.txt @@ -0,0 +1,66 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwa_local_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + cmake_modules + costmap_2d + dynamic_reconfigure + nav_core + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ) +add_definitions(${EIGEN3_DEFINITIONS}) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/DWAPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES dwa_local_planner + CATKIN_DEPENDS + base_local_planner + dynamic_reconfigure + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_ros +) + +add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp) +add_dependencies(dwa_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(dwa_local_planner ${catkin_LIBRARIES}) + +install(TARGETS dwa_local_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES blp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/src/navigation/dwa_local_planner/blp_plugin.xml b/src/navigation/dwa_local_planner/blp_plugin.xml new file mode 100644 index 0000000..2b10073 --- /dev/null +++ b/src/navigation/dwa_local_planner/blp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a local planner using either a DWA approach based on configuration parameters. + + + diff --git a/src/navigation/dwa_local_planner/cfg/DWAPlanner.cfg b/src/navigation/dwa_local_planner/cfg/DWAPlanner.cfg new file mode 100755 index 0000000..29e32b6 --- /dev/null +++ b/src/navigation/dwa_local_planner/cfg/DWAPlanner.cfg @@ -0,0 +1,39 @@ +#!/usr/bin/env python +# DWA Planner configuration + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, bool_t +from local_planner_limits import add_generic_localplanner_params + +gen = ParameterGenerator() + +# This unusual line allows to reuse existing parameter definitions +# that concern all localplanners +add_generic_localplanner_params(gen) + +gen.add("sim_time", double_t, 0, "The amount of time to roll trajectories out for in seconds", 1.7, 0) +gen.add("sim_granularity", double_t, 0, "The granularity with which to check for collisions along each trajectory in meters", 0.025, 0) +gen.add("angular_sim_granularity", double_t, 0, "The granularity with which to check for collisions for rotations in radians", 0.1, 0) + +gen.add("path_distance_bias", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0.0) +gen.add("goal_distance_bias", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0.0) +gen.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.01, 0.0) +gen.add("twirling_scale", double_t, 0, "The weight for penalizing any changes in robot heading", 0.0, 0.0) + +gen.add("stop_time_buffer", double_t, 0, "The amount of time that the robot must stop before a collision in order for a trajectory to be considered valid in seconds", 0.2, 0) +gen.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0) +gen.add("oscillation_reset_angle", double_t, 0, "The angle the robot must turn before oscillation flags are reset, in radians", 0.2, 0) + +gen.add("forward_point_distance", double_t, 0, "The distance from the center point of the robot to place an additional scoring point, in meters", 0.325) + +gen.add("scaling_speed", double_t, 0, "The absolute value of the velocity at which to start scaling the robot's footprint, in m/s", 0.25, 0) +gen.add("max_scaling_factor", double_t, 0, "The maximum factor to scale the robot's footprint by", 0.2, 0) + +gen.add("vx_samples", int_t, 0, "The number of samples to use when exploring the x velocity space", 3, 1) +gen.add("vy_samples", int_t, 0, "The number of samples to use when exploring the y velocity space", 10, 1) +gen.add("vth_samples", int_t, 0, "The number of samples to use when exploring the theta velocity space", 20, 1) + +gen.add("use_dwa", bool_t, 0, "Use dynamic window approach to constrain sampling velocities to small window.", True) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration.", False) + +exit(gen.generate("dwa_local_planner", "dwa_local_planner", "DWAPlanner")) diff --git a/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner.h b/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner.h new file mode 100644 index 0000000..70b4c71 --- /dev/null +++ b/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner.h @@ -0,0 +1,185 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_ +#define DWA_LOCAL_PLANNER_DWA_PLANNER_H_ + +#include +#include + + +#include + +//for creating a local cost grid +#include + +//for obstacle data access +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace dwa_local_planner { + /** + * @class DWAPlanner + * @brief A class implementing a local planner using the Dynamic Window Approach + */ + class DWAPlanner { + public: + /** + * @brief Constructor for the planner + * @param name The name of the planner + * @param costmap_ros A pointer to the costmap instance the planner should use + * @param global_frame the frame id of the tf frame to use + */ + DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util); + + /** + * @brief Reconfigures the trajectory planner + */ + void reconfigure(DWAPlannerConfig &cfg); + + /** + * @brief Check if a trajectory is legal for a position/velocity pair + * @param pos The robot's position + * @param vel The robot's velocity + * @param vel_samples The desired velocity + * @return True if the trajectory is valid, false otherwise + */ + bool checkTrajectory( + const Eigen::Vector3f pos, + const Eigen::Vector3f vel, + const Eigen::Vector3f vel_samples); + + /** + * @brief Given the current position and velocity of the robot, find the best trajectory to exectue + * @param global_pose The current position of the robot + * @param global_vel The current velocity of the robot + * @param drive_velocities The velocities to send to the robot base + * @return The highest scoring trajectory. A cost >= 0 means the trajectory is legal to execute. + */ + base_local_planner::Trajectory findBestPath( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& global_vel, + geometry_msgs::PoseStamped& drive_velocities); + + /** + * @brief Update the cost functions before planning + * @param global_pose The robot's current pose + * @param new_plan The new global plan + * @param footprint_spec The robot's footprint + * + * The obstacle cost function gets the footprint. + * The path and goal cost functions get the global_plan + * The alignment cost functions get a version of the global plan + * that is modified based on the global_pose + */ + void updatePlanAndLocalCosts(const geometry_msgs::PoseStamped& global_pose, + const std::vector& new_plan, + const std::vector& footprint_spec); + + /** + * @brief Get the period at which the local planner is expected to run + * @return The simulation period + */ + double getSimPeriod() { return sim_period_; } + + /** + * @brief Compute the components and total cost for a map grid cell + * @param cx The x coordinate of the cell in the map grid + * @param cy The y coordinate of the cell in the map grid + * @param path_cost Will be set to the path distance component of the cost function + * @param goal_cost Will be set to the goal distance component of the cost function + * @param occ_cost Will be set to the costmap value of the cell + * @param total_cost Will be set to the value of the overall cost function, taking into account the scaling parameters + * @return True if the cell is traversible and therefore a legal location for the robot to move to + */ + bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost); + + /** + * sets new plan and resets state + */ + bool setPlan(const std::vector& orig_global_plan); + + private: + + base_local_planner::LocalPlannerUtil *planner_util_; + + double stop_time_buffer_; ///< @brief How long before hitting something we're going to enforce that the robot stop + double path_distance_bias_, goal_distance_bias_, occdist_scale_; + Eigen::Vector3f vsamples_; + + double sim_period_;///< @brief The number of seconds to use to compute max/min vels for dwa + base_local_planner::Trajectory result_traj_; + + double forward_point_distance_; + + std::vector global_plan_; + + boost::mutex configuration_mutex_; + std::string frame_id_; + ros::Publisher traj_cloud_pub_; + bool publish_cost_grid_pc_; ///< @brief Whether or not to build and publish a PointCloud + bool publish_traj_pc_; + + double cheat_factor_; + + base_local_planner::MapGridVisualizer map_viz_; ///< @brief The map grid visualizer for outputting the potential field generated by the cost function + + // see constructor body for explanations + base_local_planner::SimpleTrajectoryGenerator generator_; + base_local_planner::OscillationCostFunction oscillation_costs_; + base_local_planner::ObstacleCostFunction obstacle_costs_; + base_local_planner::MapGridCostFunction path_costs_; + base_local_planner::MapGridCostFunction goal_costs_; + base_local_planner::MapGridCostFunction goal_front_costs_; + base_local_planner::MapGridCostFunction alignment_costs_; + base_local_planner::TwirlingCostFunction twirling_costs_; + + base_local_planner::SimpleScoredSamplingPlanner scored_sampling_planner_; + }; +}; +#endif diff --git a/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h b/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h new file mode 100644 index 0000000..4da6411 --- /dev/null +++ b/src/navigation/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h @@ -0,0 +1,159 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_ +#define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_ + +#include +#include + +#include + +#include +#include + +#include + +#include + +#include +#include +#include + +#include + +#include + +namespace dwa_local_planner { + /** + * @class DWAPlannerROS + * @brief ROS Wrapper for the DWAPlanner that adheres to the + * BaseLocalPlanner interface and can be used as a plugin for move_base. + */ + class DWAPlannerROS : public nav_core::BaseLocalPlanner { + public: + /** + * @brief Constructor for DWAPlannerROS wrapper + */ + DWAPlannerROS(); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor for the wrapper + */ + ~DWAPlannerROS(); + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base, using dynamic window approach + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool dwaComputeVelocityCommands(geometry_msgs::PoseStamped& global_pose, geometry_msgs::Twist& cmd_vel); + + /** + * @brief Set the plan that the controller is following + * @param orig_global_plan The plan to pass to the controller + * @return True if the plan was updated successfully, false otherwise + */ + bool setPlan(const std::vector& orig_global_plan); + + /** + * @brief Check if the goal pose has been achieved + * @return True if achieved, false otherwise + */ + bool isGoalReached(); + + + + bool isInitialized() { + return initialized_; + } + + private: + /** + * @brief Callback to update the local planner's parameters based on dynamic reconfigure + */ + void reconfigureCB(DWAPlannerConfig &config, uint32_t level); + + void publishLocalPlan(std::vector& path); + + void publishGlobalPlan(std::vector& path); + + tf2_ros::Buffer* tf_; ///< @brief Used for transforming point clouds + + // for visualisation, publishers of global and local plan + ros::Publisher g_plan_pub_, l_plan_pub_; + + base_local_planner::LocalPlannerUtil planner_util_; + + boost::shared_ptr dp_; ///< @brief The trajectory controller + + costmap_2d::Costmap2DROS* costmap_ros_; + + dynamic_reconfigure::Server *dsrv_; + dwa_local_planner::DWAPlannerConfig default_config_; + bool setup_; + geometry_msgs::PoseStamped current_pose_; + + base_local_planner::LatchedStopRotateController latchedStopRotateController_; + + + bool initialized_; + + + base_local_planner::OdometryHelperRos odom_helper_; + std::string odom_topic_; + }; +}; +#endif diff --git a/src/navigation/dwa_local_planner/package.xml b/src/navigation/dwa_local_planner/package.xml new file mode 100644 index 0000000..14dad42 --- /dev/null +++ b/src/navigation/dwa_local_planner/package.xml @@ -0,0 +1,50 @@ + + + + dwa_local_planner + 1.17.2 + + + This package provides an implementation of the Dynamic Window Approach to + local robot navigation on a plane. Given a global plan to follow and a + costmap, the local planner produces velocity commands to send to a mobile + base. This package supports any robot who's footprint can be represented as + a convex polygon or cicrle, and exposes its configuration as ROS parameters + that can be set in a launch file. The parameters for this planner are also + dynamically reconfigurable. This package's ROS wrapper adheres to the + BaseLocalPlanner interface specified in the nav_core package. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/dwa_local_planner + + catkin + + angles + cmake_modules + + base_local_planner + costmap_2d + dynamic_reconfigure + eigen + nav_core + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + + + + + + + + diff --git a/src/navigation/dwa_local_planner/src/dwa_planner.cpp b/src/navigation/dwa_local_planner/src/dwa_planner.cpp new file mode 100644 index 0000000..d1592c5 --- /dev/null +++ b/src/navigation/dwa_local_planner/src/dwa_planner.cpp @@ -0,0 +1,390 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +//for computing path distance +#include + +#include + +#include +#include +#include +#include + +namespace dwa_local_planner { + void DWAPlanner::reconfigure(DWAPlannerConfig &config) + { + + boost::mutex::scoped_lock l(configuration_mutex_); + + generator_.setParameters( + config.sim_time, + config.sim_granularity, + config.angular_sim_granularity, + config.use_dwa, + sim_period_); + + double resolution = planner_util_->getCostmap()->getResolution(); + path_distance_bias_ = resolution * config.path_distance_bias; + // pdistscale used for both path and alignment, set forward_point_distance to zero to discard alignment + path_costs_.setScale(path_distance_bias_); + alignment_costs_.setScale(path_distance_bias_); + + goal_distance_bias_ = resolution * config.goal_distance_bias; + goal_costs_.setScale(goal_distance_bias_); + goal_front_costs_.setScale(goal_distance_bias_); + + occdist_scale_ = config.occdist_scale; + obstacle_costs_.setScale(occdist_scale_); + + stop_time_buffer_ = config.stop_time_buffer; + oscillation_costs_.setOscillationResetDist(config.oscillation_reset_dist, config.oscillation_reset_angle); + forward_point_distance_ = config.forward_point_distance; + goal_front_costs_.setXShift(forward_point_distance_); + alignment_costs_.setXShift(forward_point_distance_); + + // obstacle costs can vary due to scaling footprint feature + obstacle_costs_.setParams(config.max_vel_trans, config.max_scaling_factor, config.scaling_speed); + + twirling_costs_.setScale(config.twirling_scale); + + int vx_samp, vy_samp, vth_samp; + vx_samp = config.vx_samples; + vy_samp = config.vy_samples; + vth_samp = config.vth_samples; + + if (vx_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the x dimension. We'll at least assume that you want to sample one value... so we're going to set vx_samples to 1 instead"); + vx_samp = 1; + config.vx_samples = vx_samp; + } + + if (vy_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the y dimension. We'll at least assume that you want to sample one value... so we're going to set vy_samples to 1 instead"); + vy_samp = 1; + config.vy_samples = vy_samp; + } + + if (vth_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the th dimension. We'll at least assume that you want to sample one value... so we're going to set vth_samples to 1 instead"); + vth_samp = 1; + config.vth_samples = vth_samp; + } + + vsamples_[0] = vx_samp; + vsamples_[1] = vy_samp; + vsamples_[2] = vth_samp; + + + } + + DWAPlanner::DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util) : + planner_util_(planner_util), + obstacle_costs_(planner_util->getCostmap()), + path_costs_(planner_util->getCostmap()), + goal_costs_(planner_util->getCostmap(), 0.0, 0.0, true), + goal_front_costs_(planner_util->getCostmap(), 0.0, 0.0, true), + alignment_costs_(planner_util->getCostmap()) + { + ros::NodeHandle private_nh("~/" + name); + + goal_front_costs_.setStopOnFailure( false ); + alignment_costs_.setStopOnFailure( false ); + + //Assuming this planner is being run within the navigation stack, we can + //just do an upward search for the frequency at which its being run. This + //also allows the frequency to be overwritten locally. + std::string controller_frequency_param_name; + if(!private_nh.searchParam("controller_frequency", controller_frequency_param_name)) { + sim_period_ = 0.05; + } else { + double controller_frequency = 0; + private_nh.param(controller_frequency_param_name, controller_frequency, 20.0); + if(controller_frequency > 0) { + sim_period_ = 1.0 / controller_frequency; + } else { + ROS_WARN("A controller_frequency less than 0 has been set. Ignoring the parameter, assuming a rate of 20Hz"); + sim_period_ = 0.05; + } + } + ROS_INFO("Sim period is set to %.2f", sim_period_); + + oscillation_costs_.resetOscillationFlags(); + + bool sum_scores; + private_nh.param("sum_scores", sum_scores, false); + obstacle_costs_.setSumScores(sum_scores); + + + private_nh.param("publish_cost_grid_pc", publish_cost_grid_pc_, false); + map_viz_.initialize(name, planner_util->getGlobalFrame(), boost::bind(&DWAPlanner::getCellCosts, this, _1, _2, _3, _4, _5, _6)); + + private_nh.param("global_frame_id", frame_id_, std::string("odom")); + + traj_cloud_pub_ = private_nh.advertise("trajectory_cloud", 1); + private_nh.param("publish_traj_pc", publish_traj_pc_, false); + + // set up all the cost functions that will be applied in order + // (any function returning negative values will abort scoring, so the order can improve performance) + std::vector critics; + critics.push_back(&oscillation_costs_); // discards oscillating motions (assisgns cost -1) + critics.push_back(&obstacle_costs_); // discards trajectories that move into obstacles + critics.push_back(&goal_front_costs_); // prefers trajectories that make the nose go towards (local) nose goal + critics.push_back(&alignment_costs_); // prefers trajectories that keep the robot nose on nose path + critics.push_back(&path_costs_); // prefers trajectories on global path + critics.push_back(&goal_costs_); // prefers trajectories that go towards (local) goal, based on wave propagation + critics.push_back(&twirling_costs_); // optionally prefer trajectories that don't spin + + // trajectory generators + std::vector generator_list; + generator_list.push_back(&generator_); + + scored_sampling_planner_ = base_local_planner::SimpleScoredSamplingPlanner(generator_list, critics); + + private_nh.param("cheat_factor", cheat_factor_, 1.0); + } + + // used for visualization only, total_costs are not really total costs + bool DWAPlanner::getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost) { + + path_cost = path_costs_.getCellCosts(cx, cy); + goal_cost = goal_costs_.getCellCosts(cx, cy); + occ_cost = planner_util_->getCostmap()->getCost(cx, cy); + if (path_cost == path_costs_.obstacleCosts() || + path_cost == path_costs_.unreachableCellCosts() || + occ_cost >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) { + return false; + } + + total_cost = + path_distance_bias_ * path_cost + + goal_distance_bias_ * goal_cost + + occdist_scale_ * occ_cost; + return true; + } + + bool DWAPlanner::setPlan(const std::vector& orig_global_plan) { + oscillation_costs_.resetOscillationFlags(); + return planner_util_->setPlan(orig_global_plan); + } + + /** + * This function is used when other strategies are to be applied, + * but the cost functions for obstacles are to be reused. + */ + bool DWAPlanner::checkTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f vel_samples){ + oscillation_costs_.resetOscillationFlags(); + base_local_planner::Trajectory traj; + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + Eigen::Vector3f goal(goal_pose.pose.position.x, goal_pose.pose.position.y, tf2::getYaw(goal_pose.pose.orientation)); + base_local_planner::LocalPlannerLimits limits = planner_util_->getCurrentLimits(); + generator_.initialise(pos, + vel, + goal, + &limits, + vsamples_); + generator_.generateTrajectory(pos, vel, vel_samples, traj); + double cost = scored_sampling_planner_.scoreTrajectory(traj, -1); + //if the trajectory is a legal one... the check passes + if(cost >= 0) { + return true; + } + ROS_WARN("Invalid Trajectory %f, %f, %f, cost: %f", vel_samples[0], vel_samples[1], vel_samples[2], cost); + + //otherwise the check fails + return false; + } + + + void DWAPlanner::updatePlanAndLocalCosts( + const geometry_msgs::PoseStamped& global_pose, + const std::vector& new_plan, + const std::vector& footprint_spec) { + global_plan_.resize(new_plan.size()); + for (unsigned int i = 0; i < new_plan.size(); ++i) { + global_plan_[i] = new_plan[i]; + } + + obstacle_costs_.setFootprint(footprint_spec); + + // costs for going away from path + path_costs_.setTargetPoses(global_plan_); + + // costs for not going towards the local goal as much as possible + goal_costs_.setTargetPoses(global_plan_); + + // alignment costs + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + double sq_dist = + (pos[0] - goal_pose.pose.position.x) * (pos[0] - goal_pose.pose.position.x) + + (pos[1] - goal_pose.pose.position.y) * (pos[1] - goal_pose.pose.position.y); + + // we want the robot nose to be drawn to its final position + // (before robot turns towards goal orientation), not the end of the + // path for the robot center. Choosing the final position after + // turning towards goal orientation causes instability when the + // robot needs to make a 180 degree turn at the end + std::vector front_global_plan = global_plan_; + double angle_to_goal = atan2(goal_pose.pose.position.y - pos[1], goal_pose.pose.position.x - pos[0]); + front_global_plan.back().pose.position.x = front_global_plan.back().pose.position.x + + forward_point_distance_ * cos(angle_to_goal); + front_global_plan.back().pose.position.y = front_global_plan.back().pose.position.y + forward_point_distance_ * + sin(angle_to_goal); + + goal_front_costs_.setTargetPoses(front_global_plan); + + // keeping the nose on the path + if (sq_dist > forward_point_distance_ * forward_point_distance_ * cheat_factor_) { + alignment_costs_.setScale(path_distance_bias_); + // costs for robot being aligned with path (nose on path, not ju + alignment_costs_.setTargetPoses(global_plan_); + } else { + // once we are close to goal, trying to keep the nose close to anything destabilizes behavior. + alignment_costs_.setScale(0.0); + } + } + + + /* + * given the current state of the robot, find a good trajectory + */ + base_local_planner::Trajectory DWAPlanner::findBestPath( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& global_vel, + geometry_msgs::PoseStamped& drive_velocities) { + + //make sure that our configuration doesn't change mid-run + boost::mutex::scoped_lock l(configuration_mutex_); + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + Eigen::Vector3f vel(global_vel.pose.position.x, global_vel.pose.position.y, tf2::getYaw(global_vel.pose.orientation)); + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + Eigen::Vector3f goal(goal_pose.pose.position.x, goal_pose.pose.position.y, tf2::getYaw(goal_pose.pose.orientation)); + base_local_planner::LocalPlannerLimits limits = planner_util_->getCurrentLimits(); + + // prepare cost functions and generators for this run + generator_.initialise(pos, + vel, + goal, + &limits, + vsamples_); + + result_traj_.cost_ = -7; + // find best trajectory by sampling and scoring the samples + std::vector all_explored; + scored_sampling_planner_.findBestTrajectory(result_traj_, &all_explored); + + if(publish_traj_pc_) + { + sensor_msgs::PointCloud2 traj_cloud; + traj_cloud.header.frame_id = frame_id_; + traj_cloud.header.stamp = ros::Time::now(); + + sensor_msgs::PointCloud2Modifier cloud_mod(traj_cloud); + cloud_mod.setPointCloud2Fields(5, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "theta", 1, sensor_msgs::PointField::FLOAT32, + "cost", 1, sensor_msgs::PointField::FLOAT32); + + unsigned int num_points = 0; + for(std::vector::iterator t=all_explored.begin(); t != all_explored.end(); ++t) + { + if (t->cost_<0) + continue; + num_points += t->getPointsSize(); + } + + cloud_mod.resize(num_points); + sensor_msgs::PointCloud2Iterator iter_x(traj_cloud, "x"); + for(std::vector::iterator t=all_explored.begin(); t != all_explored.end(); ++t) + { + if(t->cost_<0) + continue; + // Fill out the plan + for(unsigned int i = 0; i < t->getPointsSize(); ++i) { + double p_x, p_y, p_th; + t->getPoint(i, p_x, p_y, p_th); + iter_x[0] = p_x; + iter_x[1] = p_y; + iter_x[2] = 0.0; + iter_x[3] = p_th; + iter_x[4] = t->cost_; + ++iter_x; + } + } + traj_cloud_pub_.publish(traj_cloud); + } + + // verbose publishing of point clouds + if (publish_cost_grid_pc_) { + //we'll publish the visualization of the costs to rviz before returning our best trajectory + map_viz_.publishCostCloud(planner_util_->getCostmap()); + } + + // debrief stateful scoring functions + oscillation_costs_.updateOscillationFlags(pos, &result_traj_, planner_util_->getCurrentLimits().min_vel_trans); + + //if we don't have a legal trajectory, we'll just command zero + if (result_traj_.cost_ < 0) { + drive_velocities.pose.position.x = 0; + drive_velocities.pose.position.y = 0; + drive_velocities.pose.position.z = 0; + drive_velocities.pose.orientation.w = 1; + drive_velocities.pose.orientation.x = 0; + drive_velocities.pose.orientation.y = 0; + drive_velocities.pose.orientation.z = 0; + } else { + drive_velocities.pose.position.x = result_traj_.xv_; + drive_velocities.pose.position.y = result_traj_.yv_; + drive_velocities.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, result_traj_.thetav_); + tf2::convert(q, drive_velocities.pose.orientation); + } + + return result_traj_; + } +}; diff --git a/src/navigation/dwa_local_planner/src/dwa_planner_ros.cpp b/src/navigation/dwa_local_planner/src/dwa_planner_ros.cpp new file mode 100644 index 0000000..d024dcc --- /dev/null +++ b/src/navigation/dwa_local_planner/src/dwa_planner_ros.cpp @@ -0,0 +1,315 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#include + +#include + +#include + +#include +#include +#include + +#include + +//register this planner as a BaseLocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(dwa_local_planner::DWAPlannerROS, nav_core::BaseLocalPlanner) + +namespace dwa_local_planner { + + void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { + if (setup_ && config.restore_defaults) { + config = default_config_; + config.restore_defaults = false; + } + if ( ! setup_) { + default_config_ = config; + setup_ = true; + } + + // update generic local planner params + base_local_planner::LocalPlannerLimits limits; + limits.max_vel_trans = config.max_vel_trans; + limits.min_vel_trans = config.min_vel_trans; + limits.max_vel_x = config.max_vel_x; + limits.min_vel_x = config.min_vel_x; + limits.max_vel_y = config.max_vel_y; + limits.min_vel_y = config.min_vel_y; + limits.max_vel_theta = config.max_vel_theta; + limits.min_vel_theta = config.min_vel_theta; + limits.acc_lim_x = config.acc_lim_x; + limits.acc_lim_y = config.acc_lim_y; + limits.acc_lim_theta = config.acc_lim_theta; + limits.acc_lim_trans = config.acc_lim_trans; + limits.xy_goal_tolerance = config.xy_goal_tolerance; + limits.yaw_goal_tolerance = config.yaw_goal_tolerance; + limits.prune_plan = config.prune_plan; + limits.trans_stopped_vel = config.trans_stopped_vel; + limits.theta_stopped_vel = config.theta_stopped_vel; + planner_util_.reconfigureCB(limits, config.restore_defaults); + + // update dwa specific configuration + dp_->reconfigure(config); + } + + DWAPlannerROS::DWAPlannerROS() : initialized_(false), + odom_helper_("odom"), setup_(false) { + + } + + void DWAPlannerROS::initialize( + std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros) { + if (! isInitialized()) { + + ros::NodeHandle private_nh("~/" + name); + g_plan_pub_ = private_nh.advertise("global_plan", 1); + l_plan_pub_ = private_nh.advertise("local_plan", 1); + tf_ = tf; + costmap_ros_ = costmap_ros; + costmap_ros_->getRobotPose(current_pose_); + + // make sure to update the costmap we'll use for this cycle + costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap(); + + planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID()); + + //create the actual planner that we'll use.. it'll configure itself from the parameter server + dp_ = boost::shared_ptr(new DWAPlanner(name, &planner_util_)); + + if( private_nh.getParam( "odom_topic", odom_topic_ )) + { + odom_helper_.setOdomTopic( odom_topic_ ); + } + + initialized_ = true; + + // Warn about deprecated parameters -- remove this block in N-turtle + nav_core::warnRenamedParameter(private_nh, "max_vel_trans", "max_trans_vel"); + nav_core::warnRenamedParameter(private_nh, "min_vel_trans", "min_trans_vel"); + nav_core::warnRenamedParameter(private_nh, "max_vel_theta", "max_rot_vel"); + nav_core::warnRenamedParameter(private_nh, "min_vel_theta", "min_rot_vel"); + nav_core::warnRenamedParameter(private_nh, "acc_lim_trans", "acc_limit_trans"); + nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel"); + + dsrv_ = new dynamic_reconfigure::Server(private_nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + } + else{ + ROS_WARN("This planner has already been initialized, doing nothing."); + } + } + + bool DWAPlannerROS::setPlan(const std::vector& orig_global_plan) { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + //when we get a new plan, we also want to clear any latch we may have on goal tolerances + latchedStopRotateController_.resetLatching(); + + ROS_INFO("Got new plan"); + return dp_->setPlan(orig_global_plan); + } + + bool DWAPlannerROS::isGoalReached() { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + if ( ! costmap_ros_->getRobotPose(current_pose_)) { + ROS_ERROR("Could not get robot pose"); + return false; + } + + if(latchedStopRotateController_.isGoalReached(&planner_util_, odom_helper_, current_pose_)) { + ROS_INFO("Goal reached"); + return true; + } else { + return false; + } + } + + void DWAPlannerROS::publishLocalPlan(std::vector& path) { + base_local_planner::publishPlan(path, l_plan_pub_); + } + + + void DWAPlannerROS::publishGlobalPlan(std::vector& path) { + base_local_planner::publishPlan(path, g_plan_pub_); + } + + DWAPlannerROS::~DWAPlannerROS(){ + //make sure to clean things up + delete dsrv_; + } + + + + bool DWAPlannerROS::dwaComputeVelocityCommands(geometry_msgs::PoseStamped &global_pose, geometry_msgs::Twist& cmd_vel) { + // dynamic window sampling approach to get useful velocity commands + if(! isInitialized()){ + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + + /* For timing uncomment + struct timeval start, end; + double start_t, end_t, t_diff; + gettimeofday(&start, NULL); + */ + + //compute what trajectory to drive along + geometry_msgs::PoseStamped drive_cmds; + drive_cmds.header.frame_id = costmap_ros_->getBaseFrameID(); + + // call with updated footprint + base_local_planner::Trajectory path = dp_->findBestPath(global_pose, robot_vel, drive_cmds); + //ROS_ERROR("Best: %.2f, %.2f, %.2f, %.2f", path.xv_, path.yv_, path.thetav_, path.cost_); + + /* For timing uncomment + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + ROS_INFO("Cycle time: %.9f", t_diff); + */ + + //pass along drive commands + cmd_vel.linear.x = drive_cmds.pose.position.x; + cmd_vel.linear.y = drive_cmds.pose.position.y; + cmd_vel.angular.z = tf2::getYaw(drive_cmds.pose.orientation); + + //if we cannot move... tell someone + std::vector local_plan; + if(path.cost_ < 0) { + ROS_DEBUG_NAMED("dwa_local_planner", + "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot."); + local_plan.clear(); + publishLocalPlan(local_plan); + return false; + } + + ROS_DEBUG_NAMED("dwa_local_planner", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z); + + // Fill out the local plan + for(unsigned int i = 0; i < path.getPointsSize(); ++i) { + double p_x, p_y, p_th; + path.getPoint(i, p_x, p_y, p_th); + + geometry_msgs::PoseStamped p; + p.header.frame_id = costmap_ros_->getGlobalFrameID(); + p.header.stamp = ros::Time::now(); + p.pose.position.x = p_x; + p.pose.position.y = p_y; + p.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0, 0, p_th); + tf2::convert(q, p.pose.orientation); + local_plan.push_back(p); + } + + //publish information to the visualizer + + publishLocalPlan(local_plan); + return true; + } + + + + + bool DWAPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) { + // dispatches to either dwa sampling control or stop and rotate control, depending on whether we have been close enough to goal + if ( ! costmap_ros_->getRobotPose(current_pose_)) { + ROS_ERROR("Could not get robot pose"); + return false; + } + std::vector transformed_plan; + if ( ! planner_util_.getLocalPlan(current_pose_, transformed_plan)) { + ROS_ERROR("Could not get local plan"); + return false; + } + + //if the global plan passed in is empty... we won't do anything + if(transformed_plan.empty()) { + ROS_WARN_NAMED("dwa_local_planner", "Received an empty transformed plan."); + return false; + } + ROS_DEBUG_NAMED("dwa_local_planner", "Received a transformed plan with %zu points.", transformed_plan.size()); + + // update plan in dwa_planner even if we just stop and rotate, to allow checkTrajectory + dp_->updatePlanAndLocalCosts(current_pose_, transformed_plan, costmap_ros_->getRobotFootprint()); + + if (latchedStopRotateController_.isPositionReached(&planner_util_, current_pose_)) { + //publish an empty plan because we've reached our goal position + std::vector local_plan; + std::vector transformed_plan; + publishGlobalPlan(transformed_plan); + publishLocalPlan(local_plan); + base_local_planner::LocalPlannerLimits limits = planner_util_.getCurrentLimits(); + return latchedStopRotateController_.computeVelocityCommandsStopRotate( + cmd_vel, + limits.getAccLimits(), + dp_->getSimPeriod(), + &planner_util_, + odom_helper_, + current_pose_, + boost::bind(&DWAPlanner::checkTrajectory, dp_, _1, _2, _3)); + } else { + bool isOk = dwaComputeVelocityCommands(current_pose_, cmd_vel); + if (isOk) { + publishGlobalPlan(transformed_plan); + } else { + ROS_WARN_NAMED("dwa_local_planner", "DWA planner failed to produce path."); + std::vector empty_plan; + publishGlobalPlan(empty_plan); + } + return isOk; + } + } + + +}; diff --git a/src/navigation/fake_localization/CHANGELOG.rst b/src/navigation/fake_localization/CHANGELOG.rst new file mode 100644 index 0000000..98ed167 --- /dev/null +++ b/src/navigation/fake_localization/CHANGELOG.rst @@ -0,0 +1,117 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package fake_localization +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- +* Fix `#796 `_ (`#1017 `_) + Use ros::Time(0) instead of timestamp in message so as not to fail to lookupTransform. +* fix isolated build, `#995 `_ (`#997 `_) +* Contributors: Michael Ferguson, Ryo KOYAMA + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- +* remove signals dep (`#945 `_) + Boost > 1.7 has signals by default +* Contributors: acxz + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Fix for `#805 `_ (`#813 `_) +* Contributors: David V. Lu, David V. Lu!!, Michael Ferguson + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Merge pull request `#690 `_ from ros-planning/lunar_609 + switch fake_localization to tf2. +* Contributors: Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* More tolerant initial pose transform lookup. +* Contributors: Daniel Stonier + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* amcl_pose and particle cloud are now published latched diff --git a/src/navigation/fake_localization/CMakeLists.txt b/src/navigation/fake_localization/CMakeLists.txt new file mode 100644 index 0000000..5a1c739 --- /dev/null +++ b/src/navigation/fake_localization/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.0.2) +project(fake_localization) + +find_package(catkin REQUIRED + COMPONENTS + angles + geometry_msgs + message_filters + nav_msgs + rosconsole + roscpp + rospy + tf2_geometry_msgs + tf2_ros + ) + + +find_package(Boost REQUIRED) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + nav_msgs + roscpp + rospy +) + +include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) + +add_executable(fake_localization fake_localization.cpp) +target_link_libraries(fake_localization + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ) +add_dependencies(fake_localization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +install( + PROGRAMS + static_odom_broadcaster.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + TARGETS + fake_localization + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/src/navigation/fake_localization/fake_localization.cpp b/src/navigation/fake_localization/fake_localization.cpp new file mode 100644 index 0000000..3e7d374 --- /dev/null +++ b/src/navigation/fake_localization/fake_localization.cpp @@ -0,0 +1,273 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + *********************************************************************/ + +/** \author Ioan Sucan */ + +/** + + @mainpage + + @htmlinclude manifest.html + + @b odom_localization Takes in ground truth pose information for a robot + base (e.g., from a simulator or motion capture system) and republishes + it as if a localization system were in use. + +
+ + @section usage Usage + @verbatim + $ fake_localization + @endverbatim + +
+ + @section topic ROS topics + + Subscribes to (name/type): + - @b "base_pose_ground_truth" nav_msgs/Odometry : robot's odometric pose. Only the position information is used (velocity is ignored). + + Publishes to (name / type): + - @b "amcl_pose" geometry_msgs/PoseWithCovarianceStamped : robot's estimated pose in the map, with covariance + - @b "particlecloud" geometry_msgs/PoseArray : fake set of poses being maintained by the filter (one paricle only). + +
+ + @section parameters ROS parameters + + - "~odom_frame_id" (string) : The odometry frame to be used, default: "odom" + + **/ + +#include +#include + +#include +#include +#include + +#include + +#include "ros/console.h" + +#include +#include +#include +#include +#include +#include +#include +#include "message_filters/subscriber.h" + +class FakeOdomNode +{ + public: + FakeOdomNode(void) + { + m_posePub = m_nh.advertise("amcl_pose",1,true); + m_particlecloudPub = m_nh.advertise("particlecloud",1,true); + m_tfServer = new tf2_ros::TransformBroadcaster(); + m_tfBuffer = new tf2_ros::Buffer(); + m_tfListener = new tf2_ros::TransformListener(*m_tfBuffer); + + m_base_pos_received = false; + + ros::NodeHandle private_nh("~"); + private_nh.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh.param("base_frame_id", base_frame_id_, std::string("base_link")); + private_nh.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh.param("delta_x", delta_x_, 0.0); + private_nh.param("delta_y", delta_y_, 0.0); + private_nh.param("delta_yaw", delta_yaw_, 0.0); + private_nh.param("transform_tolerance", transform_tolerance_, 0.1); + m_particleCloud.header.stamp = ros::Time::now(); + m_particleCloud.header.frame_id = global_frame_id_; + m_particleCloud.poses.resize(1); + ros::NodeHandle nh; + + tf2::Quaternion q; + q.setRPY(0.0, 0.0, -delta_yaw_); + m_offsetTf = tf2::Transform(q, tf2::Vector3(-delta_x_, -delta_y_, 0.0)); + + stuff_sub_ = nh.subscribe("base_pose_ground_truth", 100, &FakeOdomNode::stuffFilter, this); + filter_sub_ = new message_filters::Subscriber(nh, "", 100); + filter_ = new tf2_ros::MessageFilter(*filter_sub_, *m_tfBuffer, base_frame_id_, 100, nh); + filter_->registerCallback(boost::bind(&FakeOdomNode::update, this, _1)); + + // subscription to "2D Pose Estimate" from RViz: + m_initPoseSub = new message_filters::Subscriber(nh, "initialpose", 1); + m_initPoseFilter = new tf2_ros::MessageFilter(*m_initPoseSub, *m_tfBuffer, global_frame_id_, 1, nh); + m_initPoseFilter->registerCallback(boost::bind(&FakeOdomNode::initPoseReceived, this, _1)); + } + + ~FakeOdomNode(void) + { + if (m_tfServer) + delete m_tfServer; + if (m_tfListener) + delete m_tfListener; + if (m_tfBuffer) + delete m_tfBuffer; + } + + + private: + ros::NodeHandle m_nh; + ros::Publisher m_posePub; + ros::Publisher m_particlecloudPub; + message_filters::Subscriber* m_initPoseSub; + tf2_ros::TransformBroadcaster *m_tfServer; + tf2_ros::TransformListener *m_tfListener; + tf2_ros::Buffer *m_tfBuffer; + tf2_ros::MessageFilter* m_initPoseFilter; + tf2_ros::MessageFilter* filter_; + ros::Subscriber stuff_sub_; + message_filters::Subscriber* filter_sub_; + + double delta_x_, delta_y_, delta_yaw_; + bool m_base_pos_received; + double transform_tolerance_; + + nav_msgs::Odometry m_basePosMsg; + geometry_msgs::PoseArray m_particleCloud; + geometry_msgs::PoseWithCovarianceStamped m_currentPos; + tf2::Transform m_offsetTf; + + //parameter for what odom to use + std::string odom_frame_id_; + std::string base_frame_id_; + std::string global_frame_id_; + + public: + void stuffFilter(const nav_msgs::OdometryConstPtr& odom_msg){ + //we have to do this to force the message filter to wait for transforms + //from odom_frame_id_ to base_frame_id_ to be available at time odom_msg.header.stamp + //really, the base_pose_ground_truth should come in with no frame_id b/c it doesn't make sense + boost::shared_ptr stuff_msg(new nav_msgs::Odometry); + *stuff_msg = *odom_msg; + stuff_msg->header.frame_id = odom_frame_id_; + filter_->add(stuff_msg); + } + + void update(const nav_msgs::OdometryConstPtr& message){ + tf2::Transform txi; + tf2::convert(message->pose.pose, txi); + txi = m_offsetTf * txi; + + geometry_msgs::TransformStamped odom_to_map; + try + { + geometry_msgs::TransformStamped txi_inv; + txi_inv.header.frame_id = base_frame_id_; + txi_inv.header.stamp = message->header.stamp; + tf2::convert(txi.inverse(), txi_inv.transform); + + m_tfBuffer->transform(txi_inv, odom_to_map, odom_frame_id_); + } + catch(tf2::TransformException &e) + { + ROS_ERROR("Failed to transform to %s from %s: %s\n", odom_frame_id_.c_str(), base_frame_id_.c_str(), e.what()); + return; + } + + geometry_msgs::TransformStamped trans; + trans.header.stamp = message->header.stamp + ros::Duration(transform_tolerance_); + trans.header.frame_id = global_frame_id_; + trans.child_frame_id = message->header.frame_id; + tf2::Transform odom_to_map_tf2; + tf2::convert(odom_to_map.transform, odom_to_map_tf2); + tf2::Transform odom_to_map_inv = odom_to_map_tf2.inverse(); + tf2::convert(odom_to_map_inv, trans.transform); + m_tfServer->sendTransform(trans); + + tf2::Transform current; + tf2::convert(message->pose.pose, current); + + //also apply the offset to the pose + current = m_offsetTf * current; + + geometry_msgs::Transform current_msg; + tf2::convert(current, current_msg); + + // Publish localized pose + m_currentPos.header = message->header; + m_currentPos.header.frame_id = global_frame_id_; + tf2::convert(current_msg.rotation, m_currentPos.pose.pose.orientation); + m_currentPos.pose.pose.position.x = current_msg.translation.x; + m_currentPos.pose.pose.position.y = current_msg.translation.y; + m_currentPos.pose.pose.position.z = current_msg.translation.z; + m_posePub.publish(m_currentPos); + + // The particle cloud is the current position. Quite convenient. + m_particleCloud.header = m_currentPos.header; + m_particleCloud.poses[0] = m_currentPos.pose.pose; + m_particlecloudPub.publish(m_particleCloud); + } + + void initPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg){ + tf2::Transform pose; + tf2::convert(msg->pose.pose, pose); + + if (msg->header.frame_id != global_frame_id_){ + ROS_WARN("Frame ID of \"initialpose\" (%s) is different from the global frame %s", msg->header.frame_id.c_str(), global_frame_id_.c_str()); + } + + // set offset so that current pose is set to "initialpose" + geometry_msgs::TransformStamped baseInMap; + try{ + // just get the latest + baseInMap = m_tfBuffer->lookupTransform(base_frame_id_, global_frame_id_, ros::Time(0)); + } catch(tf2::TransformException){ + ROS_WARN("Failed to lookup transform!"); + return; + } + + tf2::Transform baseInMapTf2; + tf2::convert(baseInMap.transform, baseInMapTf2); + tf2::Transform delta = pose * baseInMapTf2; + m_offsetTf = delta * m_offsetTf; + + } +}; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "fake_localization"); + + FakeOdomNode odom; + + ros::spin(); + + return 0; +} diff --git a/src/navigation/fake_localization/package.xml b/src/navigation/fake_localization/package.xml new file mode 100644 index 0000000..76c6b3b --- /dev/null +++ b/src/navigation/fake_localization/package.xml @@ -0,0 +1,28 @@ + + + + fake_localization + 1.17.2 + A ROS node that simply forwards odometry information. + Ioan A. Sucan + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/fake_localization + + catkin + + angles + tf2_geometry_msgs + + geometry_msgs + message_filters + nav_msgs + rosconsole + roscpp + rospy + tf2_ros + + diff --git a/src/navigation/fake_localization/static_odom_broadcaster.py b/src/navigation/fake_localization/static_odom_broadcaster.py new file mode 100755 index 0000000..19f86f1 --- /dev/null +++ b/src/navigation/fake_localization/static_odom_broadcaster.py @@ -0,0 +1,47 @@ +#!/usr/bin/python + +# +# Similar to static_transform_broadcaster, this node constantly publishes +# static odometry information (Odometry msg and tf). This can be used +# with fake_localization to evaluate planning algorithms without running +# an actual robot with odometry or localization +# +# Author: Armin Hornung +# License: BSD + +import rospy + +import tf +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Pose, Quaternion, Point + + +def publishOdom(): + rospy.init_node('fake_odom') + base_frame_id = rospy.get_param("~base_frame_id", "base_link") + odom_frame_id = rospy.get_param("~odom_frame_id", "odom") + publish_frequency = rospy.get_param("~publish_frequency", 10.0) + pub = rospy.Publisher('odom', Odometry) + tf_pub = tf.TransformBroadcaster() + + #TODO: static pose could be made configurable (cmd.line or parameters) + quat = tf.transformations.quaternion_from_euler(0, 0, 0) + + odom = Odometry() + odom.header.frame_id = odom_frame_id + odom.pose.pose = Pose(Point(0, 0, 0), Quaternion(*quat)) + + rospy.loginfo("Publishing static odometry from \"%s\" to \"%s\"", odom_frame_id, base_frame_id) + r = rospy.Rate(publish_frequency) + while not rospy.is_shutdown(): + odom.header.stamp = rospy.Time.now() + pub.publish(odom) + tf_pub.sendTransform((0, 0, 0), quat, + odom.header.stamp, base_frame_id, odom_frame_id) + r.sleep() + +if __name__ == '__main__': + try: + publishOdom() + except rospy.ROSInterruptException: + pass diff --git a/src/navigation/global_planner/CHANGELOG.rst b/src/navigation/global_planner/CHANGELOG.rst new file mode 100644 index 0000000..98bc8d2 --- /dev/null +++ b/src/navigation/global_planner/CHANGELOG.rst @@ -0,0 +1,181 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package global_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Throttled failed to get plan error to 5 seconds (`#1102 `_) +* Fixed the risk of divide by zero. (`#1099 `_) +* No virtual destructor polyformic classes fixed. (`#1100 `_) +* Fixes `#1026 `_ (`#1028 `_) +* correctly delete previously allocated array (`#1025 `_) + Co-authored-by: Fedor Vlasov +* Contributors: David V. Lu!!, Noriaki Ando, Orhan G. Hafif, mechatheo + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* parameter for enabling outlineMap added (`#926 `_) +* Contributors: Pavel Shumejko, Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Remove unused visualize_potential (`#866 `_) +* remove unused costmap_pub_frequency (`#858 `_) +* Fix `#845 `_ (`#846 `_) +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Contributors: David V. Lu, David V. Lu!!, Michael Ferguson, Stepan Kostusiev + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* feat(orientation_filter): Added additional orientation filter options (`#739 `_) + * feat(orientation_filter): Added additional orientation filter options + Enables plan references with different orientations for omni-base + controllers. The following options are added: + - Backward (backward path traversal, pose points to previous point) + - Leftward (lateral path traversal in the positive y direction) + - Rightward (lateral path traversal in the negative y direction) + * Updated orientation filter option description + * Added window size parameter to orientation filter + Previously, the orientation was calculated using the current and the + next point. However, when the path is somewhat jumpy, this results in + poor orientations. By adding this parameter and altering the orientation + calculation, the calculated orientation can be smoothened along the path + by taking into account a larger window. The orientation of index point i + will be calculated using the positions of i - window_size and i + + window_size. +* Contributors: Michael Ferguson, Rein Appeldoorn, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Fix to increment 'cycle' in while loop (`#546 `_) +* Fix to check index value before accessing to element of potential array (`#547 `_) +* Set frame_id and stamp on Path message even if path is not found. (`#533 `_) +* Contributors: Junya Hayashi, Martin Günther, Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Add missing angles dependecy +* Fix for `#337 `_ +* Contributors: David V. Lu!!, Gary Servin + +1.13.0 (2015-03-17) +------------------- +* Fixing various memory freeing operations +* Add Orientation Filter to Global Planner +* Contributors: Alex Bencz, David V. Lu!!, James Servos, Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Add Gradient Path's cycle limit to GridPath +* When clearing endpoint, do not overwrite potentials +* Consolidate usage of POT_HIGH +* Contributors: David V. Lu!! + +1.11.11 (2014-07-23) +-------------------- +* Minor code cleanup +* Update package.xml +* Contributors: David Lu!!, Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* global_planner now pushes the goal onto the end of the global path +* move_base planService now searches out from desired goal +* Contributors: David Lu!!, Kaijen Hsiao + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.5 (2014-01-30) +------------------- +* Global Planner Cleanup +* Create the vector reversed instead of reverse it after +* Reversed the plan vector +* global_planner: Fix bgp_plugin.xml file and install it +* Improved Global Planner (from Groovy branch) + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/global_planner/CMakeLists.txt b/src/navigation/global_planner/CMakeLists.txt new file mode 100644 index 0000000..33415a3 --- /dev/null +++ b/src/navigation/global_planner/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.0.2) +project(global_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + navfn + nav_msgs + pluginlib + roscpp + tf2_geometry_msgs + tf2_ros +) + +generate_dynamic_reconfigure_options( + cfg/GlobalPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + navfn + nav_msgs + pluginlib + roscpp + tf2_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/quadratic_calculator.cpp + src/dijkstra.cpp + src/astar.cpp + src/grid_path.cpp + src/gradient_path.cpp + src/orientation_filter.cpp + src/planner_core.cpp +) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +add_executable(planner + src/plan_node.cpp +) +add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(planner + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +install(TARGETS planner + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/src/navigation/global_planner/bgp_plugin.xml b/src/navigation/global_planner/bgp_plugin.xml new file mode 100644 index 0000000..39d42fc --- /dev/null +++ b/src/navigation/global_planner/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a grid based planner using Dijkstras or A* + + + diff --git a/src/navigation/global_planner/cfg/GlobalPlanner.cfg b/src/navigation/global_planner/cfg/GlobalPlanner.cfg new file mode 100755 index 0000000..f43700c --- /dev/null +++ b/src/navigation/global_planner/cfg/GlobalPlanner.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python +PACKAGE = "global_planner" + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t + +gen = ParameterGenerator() + +gen.add("lethal_cost", int_t, 0, "Lethal Cost", 253, 1, 255) +gen.add("neutral_cost", int_t, 0, "Neutral Cost", 50, 1, 255) +gen.add("cost_factor", double_t, 0, "Factor to multiply each cost from costmap by", 3.0, 0.01, 5.0) +gen.add("publish_potential", bool_t, 0, "Publish Potential Costmap", True) + +orientation_enum = gen.enum([ + gen.const("None", int_t, 0, "No orientations added except goal orientation"), + gen.const("Forward", int_t, 1, + "Positive x axis points along path, except for the goal orientation"), + gen.const("Interpolate", int_t, 2, "Orientations are a linear blend of start and goal pose"), + gen.const("ForwardThenInterpolate", + int_t, 3, "Forward orientation until last straightaway, then a linear blend until the goal pose"), + gen.const("Backward", int_t, 4, + "Negative x axis points along the path, except for the goal orientation"), + gen.const("Leftward", int_t, 5, + "Positive y axis points along the path, except for the goal orientation"), + gen.const("Rightward", int_t, 6, + "Negative y axis points along the path, except for the goal orientation"), +], "How to set the orientation of each point") + +gen.add("orientation_mode", int_t, 0, "How to set the orientation of each point", 1, 0, 6, + edit_method=orientation_enum) +gen.add("orientation_window_size", int_t, 0, "What window to use to determine the orientation based on the " + "position derivative specified by the orientation mode", 1, 1, 255) + +exit(gen.generate(PACKAGE, "global_planner", "GlobalPlanner")) diff --git a/src/navigation/global_planner/include/global_planner/astar.h b/src/navigation/global_planner/include/global_planner/astar.h new file mode 100644 index 0000000..21f0e5d --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/astar.h @@ -0,0 +1,76 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _ASTAR_H +#define _ASTAR_H + +#include +#include +#include +#include + +namespace global_planner { +class Index { + public: + Index(int a, float b) { + i = a; + cost = b; + } + int i; + float cost; +}; + +struct greater1 { + bool operator()(const Index& a, const Index& b) const { + return a.cost > b.cost; + } +}; + +class AStarExpansion : public Expander { + public: + AStarExpansion(PotentialCalculator* p_calc, int nx, int ny); + virtual ~AStarExpansion() {} + bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles, + float* potential); + private: + void add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, int end_y); + std::vector queue_; +}; + +} //end namespace global_planner +#endif + diff --git a/src/navigation/global_planner/include/global_planner/dijkstra.h b/src/navigation/global_planner/include/global_planner/dijkstra.h new file mode 100644 index 0000000..89646ce --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/dijkstra.h @@ -0,0 +1,110 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _DIJKSTRA_H +#define _DIJKSTRA_H + +#define PRIORITYBUFSIZE 10000 +#include +#include +#include +#include + +#include +#include + +// inserting onto the priority blocks +#define push_cur(n) { if (n>=0 && n=0 && n=0 && n= lethal_cost_) + c = lethal_cost_ - 1; + return c; + } + return lethal_cost_; + } + + /** block priority buffers */ + int *buffer1_, *buffer2_, *buffer3_; /**< storage buffers for priority blocks */ + int *currentBuffer_, *nextBuffer_, *overBuffer_; /**< priority buffer block ptrs */ + int currentEnd_, nextEnd_, overEnd_; /**< end points of arrays */ + bool *pending_; /**< pending_ cells during propagation */ + bool precise_; + + /** block priority thresholds */ + float threshold_; /**< current threshold */ + float priorityIncrement_; /**< priority threshold increment */ + +}; +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/expander.h b/src/navigation/global_planner/include/global_planner/expander.h new file mode 100644 index 0000000..6df8e52 --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/expander.h @@ -0,0 +1,107 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _EXPANDER_H +#define _EXPANDER_H +#include +#include + +namespace global_planner { + +class Expander { + public: + Expander(PotentialCalculator* p_calc, int nx, int ny) : + unknown_(true), lethal_cost_(253), neutral_cost_(50), factor_(3.0), p_calc_(p_calc) { + setSize(nx, ny); + } + virtual ~Expander() {} + virtual bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) = 0; + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + virtual void setSize(int nx, int ny) { + nx_ = nx; + ny_ = ny; + ns_ = nx * ny; + } /**< sets or resets the size of the map */ + void setLethalCost(unsigned char lethal_cost) { + lethal_cost_ = lethal_cost; + } + void setNeutralCost(unsigned char neutral_cost) { + neutral_cost_ = neutral_cost; + } + void setFactor(float factor) { + factor_ = factor; + } + void setHasUnknown(bool unknown) { + unknown_ = unknown; + } + + void clearEndpoint(unsigned char* costs, float* potential, int gx, int gy, int s){ + int startCell = toIndex(gx, gy); + for(int i=-s;i<=s;i++){ + for(int j=-s;j<=s;j++){ + int n = startCell+i+nx_*j; + if(potential[n]calculatePotential(potential, c, n); + potential[n] = pot; + } + } + } + + protected: + inline int toIndex(int x, int y) { + return x + nx_ * y; + } + + int nx_, ny_, ns_; /**< size of grid, in pixels */ + bool unknown_; + unsigned char lethal_cost_, neutral_cost_; + int cells_visited_; + float factor_; + PotentialCalculator* p_calc_; + +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/gradient_path.h b/src/navigation/global_planner/include/global_planner/gradient_path.h new file mode 100644 index 0000000..619f9be --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/gradient_path.h @@ -0,0 +1,78 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _GRADIENT_PATH_H +#define _GRADIENT_PATH_H + +#include +#include +#include + +namespace global_planner { + +class GradientPath : public Traceback { + public: + GradientPath(PotentialCalculator* p_calc); + virtual ~GradientPath(); + + void setSize(int xs, int ys); + + // + // Path construction + // Find gradient at array points, interpolate path + // Use step size of pathStep, usually 0.5 pixel + // + // Some sanity checks: + // 1. Stuck at same index position + // 2. Doesn't get near goal + // 3. Surrounded by high potentials + // + bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path); + private: + inline int getNearestPoint(int stc, float dx, float dy) { + int pt = stc + (int)round(dx) + (int)(xs_ * round(dy)); + return std::max(0, std::min(xs_ * ys_ - 1, pt)); + } + float gradCell(float* potential, int n); + + float *gradx_, *grady_; /**< gradient arrays, size of potential array */ + + float pathStep_; /**< step size for following gradient */ +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/grid_path.h b/src/navigation/global_planner/include/global_planner/grid_path.h new file mode 100644 index 0000000..ed37f4e --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/grid_path.h @@ -0,0 +1,53 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _GRID_PATH_H +#define _GRID_PATH_H +#include +#include + +namespace global_planner { + +class GridPath : public Traceback { + public: + GridPath(PotentialCalculator* p_calc): Traceback(p_calc){} + virtual ~GridPath() {} + bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path); +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/orientation_filter.h b/src/navigation/global_planner/include/global_planner/orientation_filter.h new file mode 100644 index 0000000..6f52eb4 --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/orientation_filter.h @@ -0,0 +1,67 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, David V. Lu!! + * 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 David V. Lu 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 OWNER 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. + * + * Author: David V. Lu!! + *********************************************************************/ +#ifndef GLOBAL_PLANNER_ORIENTATION_FILTER_H +#define GLOBAL_PLANNER_ORIENTATION_FILTER_H +#include + +namespace global_planner { + +enum OrientationMode { NONE, FORWARD, INTERPOLATE, FORWARDTHENINTERPOLATE, BACKWARD, LEFTWARD, RIGHTWARD }; + +class OrientationFilter { + public: + OrientationFilter() : omode_(NONE) {} + + + virtual void processPath(const geometry_msgs::PoseStamped& start, + std::vector& path); + + void setAngleBasedOnPositionDerivative(std::vector& path, int index); + void interpolate(std::vector& path, + int start_index, int end_index); + + void setMode(OrientationMode new_mode){ omode_ = new_mode; } + void setMode(int new_mode){ setMode((OrientationMode) new_mode); } + + void setWindowSize(size_t window_size){ window_size_ = window_size; } + protected: + OrientationMode omode_; + int window_size_; +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/planner_core.h b/src/navigation/global_planner/include/global_planner/planner_core.h new file mode 100644 index 0000000..5c2f7fb --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/planner_core.h @@ -0,0 +1,212 @@ +#ifndef _PLANNERCORE_H +#define _PLANNERCORE_H +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#define POT_HIGH 1.0e10 // unassigned cell potential +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace global_planner { + +class Expander; +class GridPath; + +/** + * @class PlannerCore + * @brief Provides a ROS wrapper for the global_planner planner which runs a fast, interpolated navigation function on a costmap. + */ + +class GlobalPlanner : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Default constructor for the PlannerCore object + */ + GlobalPlanner(); + + /** + * @brief Constructor for the PlannerCore object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use + * @param frame_id Frame of the costmap + */ + GlobalPlanner(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id); + + /** + * @brief Default deconstructor for the PlannerCore object + */ + ~GlobalPlanner(); + + /** + * @brief Initialization function for the PlannerCore object + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + void initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + std::vector& plan); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param tolerance The tolerance on the goal point for the planner + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, double tolerance, + std::vector& plan); + + /** + * @brief Computes the full navigation function for the map given a point in the world to start from + * @param world_point The point to use for seeding the navigation function + * @return True if the navigation function was computed successfully, false otherwise + */ + bool computePotential(const geometry_msgs::Point& world_point); + + /** + * @brief Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) + * @param start_x + * @param start_y + * @param end_x + * @param end_y + * @param goal The goal pose to create a plan to + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool getPlanFromPotential(double start_x, double start_y, double end_x, double end_y, + const geometry_msgs::PoseStamped& goal, + std::vector& plan); + + /** + * @brief Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return The navigation function's value at that point in the world + */ + double getPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @param tolerance The tolerance on searching around the world_point specified + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance); + + /** + * @brief Publish a path for visualization purposes + */ + void publishPlan(const std::vector& path); + + bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp); + + protected: + + /** + * @brief Store a copy of the current costmap in \a costmap. Called by makePlan. + */ + costmap_2d::Costmap2D* costmap_; + std::string frame_id_; + ros::Publisher plan_pub_; + bool initialized_, allow_unknown_; + + private: + void mapToWorld(double mx, double my, double& wx, double& wy); + bool worldToMap(double wx, double wy, double& mx, double& my); + void clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my); + void publishPotential(float* potential); + + double planner_window_x_, planner_window_y_, default_tolerance_; + boost::mutex mutex_; + ros::ServiceServer make_plan_srv_; + + PotentialCalculator* p_calc_; + Expander* planner_; + Traceback* path_maker_; + OrientationFilter* orientation_filter_; + + bool publish_potential_; + ros::Publisher potential_pub_; + int publish_scale_; + + void outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value); + + float* potential_array_; + unsigned int start_x_, start_y_, end_x_, end_y_; + + bool old_navfn_behavior_; + float convert_offset_; + + bool outline_map_; + + dynamic_reconfigure::Server *dsrv_; + void reconfigureCB(global_planner::GlobalPlannerConfig &config, uint32_t level); + +}; + +} //end namespace global_planner + +#endif diff --git a/src/navigation/global_planner/include/global_planner/potential_calculator.h b/src/navigation/global_planner/include/global_planner/potential_calculator.h new file mode 100644 index 0000000..9284abb --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/potential_calculator.h @@ -0,0 +1,82 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _POTENTIAL_CALCULATOR_H +#define _POTENTIAL_CALCULATOR_H + +#include + +namespace global_planner { + +class PotentialCalculator { + public: + PotentialCalculator(int nx, int ny) { + setSize(nx, ny); + } + virtual ~PotentialCalculator() {} + virtual float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential=-1){ + if(prev_potential < 0){ + // get min of neighbors + float min_h = std::min( potential[n - 1], potential[n + 1] ), + min_v = std::min( potential[n - nx_], potential[n + nx_]); + prev_potential = std::min(min_h, min_v); + } + + return prev_potential + cost; + } + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + virtual void setSize(int nx, int ny) { + nx_ = nx; + ny_ = ny; + ns_ = nx * ny; + } /**< sets or resets the size of the map */ + + protected: + inline int toIndex(int x, int y) { + return x + nx_ * y; + } + + int nx_, ny_, ns_; /**< size of grid, in pixels */ +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/quadratic_calculator.h b/src/navigation/global_planner/include/global_planner/quadratic_calculator.h new file mode 100644 index 0000000..74da818 --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/quadratic_calculator.h @@ -0,0 +1,54 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _QUADRATIC_CALCULATOR_H +#define _QUADRATIC_CALCULATOR_H +#include +#include + +namespace global_planner { + +class QuadraticCalculator : public PotentialCalculator { + public: + QuadraticCalculator(int nx, int ny): PotentialCalculator(nx,ny) {} + + float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential); +}; + + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/include/global_planner/traceback.h b/src/navigation/global_planner/include/global_planner/traceback.h new file mode 100644 index 0000000..d9d7381 --- /dev/null +++ b/src/navigation/global_planner/include/global_planner/traceback.h @@ -0,0 +1,67 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _TRACEBACK_H +#define _TRACEBACK_H +#include +#include + +namespace global_planner { + +class Traceback { + public: + Traceback(PotentialCalculator* p_calc) : p_calc_(p_calc) {} + virtual ~Traceback() {} + virtual bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path) = 0; + virtual void setSize(int xs, int ys) { + xs_ = xs; + ys_ = ys; + } + inline int getIndex(int x, int y) { + return x + y * xs_; + } + void setLethalCost(unsigned char lethal_cost) { + lethal_cost_ = lethal_cost; + } + protected: + int xs_, ys_; + unsigned char lethal_cost_; + PotentialCalculator* p_calc_; +}; + +} //end namespace global_planner +#endif diff --git a/src/navigation/global_planner/package.xml b/src/navigation/global_planner/package.xml new file mode 100644 index 0000000..eb14127 --- /dev/null +++ b/src/navigation/global_planner/package.xml @@ -0,0 +1,36 @@ + + + + global_planner + 1.17.2 + + A path planner library and node. + + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + + David Lu!! + http://wiki.ros.org/global_planner + + catkin + + angles + tf2_geometry_msgs + + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + nav_msgs + navfn + pluginlib + roscpp + tf2_ros + + + + + + diff --git a/src/navigation/global_planner/src/astar.cpp b/src/navigation/global_planner/src/astar.cpp new file mode 100644 index 0000000..696756f --- /dev/null +++ b/src/navigation/global_planner/src/astar.cpp @@ -0,0 +1,98 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include + +namespace global_planner { + +AStarExpansion::AStarExpansion(PotentialCalculator* p_calc, int xs, int ys) : + Expander(p_calc, xs, ys) { +} + +bool AStarExpansion::calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) { + queue_.clear(); + int start_i = toIndex(start_x, start_y); + queue_.push_back(Index(start_i, 0)); + + std::fill(potential, potential + ns_, POT_HIGH); + potential[start_i] = 0; + + int goal_i = toIndex(end_x, end_y); + int cycle = 0; + + while (queue_.size() > 0 && cycle < cycles) { + Index top = queue_[0]; + std::pop_heap(queue_.begin(), queue_.end(), greater1()); + queue_.pop_back(); + + int i = top.i; + if (i == goal_i) + return true; + + add(costs, potential, potential[i], i + 1, end_x, end_y); + add(costs, potential, potential[i], i - 1, end_x, end_y); + add(costs, potential, potential[i], i + nx_, end_x, end_y); + add(costs, potential, potential[i], i - nx_, end_x, end_y); + + cycle++; + } + + return false; +} + +void AStarExpansion::add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, + int end_y) { + if (next_i < 0 || next_i >= ns_) + return; + + if (potential[next_i] < POT_HIGH) + return; + + if(costs[next_i]>=lethal_cost_ && !(unknown_ && costs[next_i]==costmap_2d::NO_INFORMATION)) + return; + + potential[next_i] = p_calc_->calculatePotential(potential, costs[next_i] + neutral_cost_, next_i, prev_potential); + int x = next_i % nx_, y = next_i / nx_; + float distance = abs(end_x - x) + abs(end_y - y); + + queue_.push_back(Index(next_i, potential[next_i] + distance * neutral_cost_)); + std::push_heap(queue_.begin(), queue_.end(), greater1()); +} + +} //end namespace global_planner diff --git a/src/navigation/global_planner/src/dijkstra.cpp b/src/navigation/global_planner/src/dijkstra.cpp new file mode 100644 index 0000000..7e069d7 --- /dev/null +++ b/src/navigation/global_planner/src/dijkstra.cpp @@ -0,0 +1,234 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +namespace global_planner { + +DijkstraExpansion::DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny) : + Expander(p_calc, nx, ny), pending_(NULL), precise_(false) { + // priority buffers + buffer1_ = new int[PRIORITYBUFSIZE]; + buffer2_ = new int[PRIORITYBUFSIZE]; + buffer3_ = new int[PRIORITYBUFSIZE]; + + priorityIncrement_ = 2 * neutral_cost_; +} + +DijkstraExpansion::~DijkstraExpansion() { + delete[] buffer1_; + delete[] buffer2_; + delete[] buffer3_; + if (pending_) + delete[] pending_; +} + +// +// Set/Reset map size +// +void DijkstraExpansion::setSize(int xs, int ys) { + Expander::setSize(xs, ys); + if (pending_) + delete[] pending_; + + pending_ = new bool[ns_]; + memset(pending_, 0, ns_ * sizeof(bool)); +} + +// +// main propagation function +// Dijkstra method, breadth-first +// runs for a specified number of cycles, +// or until it runs out of cells to update, +// or until the Start cell is found (atStart = true) +// + +bool DijkstraExpansion::calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) { + cells_visited_ = 0; + // priority buffers + threshold_ = lethal_cost_; + currentBuffer_ = buffer1_; + currentEnd_ = 0; + nextBuffer_ = buffer2_; + nextEnd_ = 0; + overBuffer_ = buffer3_; + overEnd_ = 0; + memset(pending_, 0, ns_ * sizeof(bool)); + std::fill(potential, potential + ns_, POT_HIGH); + + // set goal + int k = toIndex(start_x, start_y); + + if(precise_) + { + double dx = start_x - (int)start_x, dy = start_y - (int)start_y; + dx = floorf(dx * 100 + 0.5) / 100; + dy = floorf(dy * 100 + 0.5) / 100; + potential[k] = neutral_cost_ * 2 * dx * dy; + potential[k+1] = neutral_cost_ * 2 * (1-dx)*dy; + potential[k+nx_] = neutral_cost_*2*dx*(1-dy); + potential[k+nx_+1] = neutral_cost_*2*(1-dx)*(1-dy);//*/ + + push_cur(k+2); + push_cur(k-1); + push_cur(k+nx_-1); + push_cur(k+nx_+2); + + push_cur(k-nx_); + push_cur(k-nx_+1); + push_cur(k+nx_*2); + push_cur(k+nx_*2+1); + }else{ + potential[k] = 0; + push_cur(k+1); + push_cur(k-1); + push_cur(k-nx_); + push_cur(k+nx_); + } + + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set up start cell + int startCell = toIndex(end_x, end_y); + + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (currentEnd_ == 0 && nextEnd_ == 0) // priority blocks empty + return false; + + // stats + nc += currentEnd_; + if (currentEnd_ > nwv) + nwv = currentEnd_; + + // reset pending_ flags on current priority buffer + int *pb = currentBuffer_; + int i = currentEnd_; + while (i-- > 0) + pending_[*(pb++)] = false; + + // process current priority buffer + pb = currentBuffer_; + i = currentEnd_; + while (i-- > 0) + updateCell(costs, potential, *pb++); + + // swap priority blocks currentBuffer_ <=> nextBuffer_ + currentEnd_ = nextEnd_; + nextEnd_ = 0; + pb = currentBuffer_; // swap buffers + currentBuffer_ = nextBuffer_; + nextBuffer_ = pb; + + // see if we're done with this priority level + if (currentEnd_ == 0) { + threshold_ += priorityIncrement_; // increment priority threshold + currentEnd_ = overEnd_; // set current to overflow block + overEnd_ = 0; + pb = currentBuffer_; // swap buffers + currentBuffer_ = overBuffer_; + overBuffer_ = pb; + } + + // check if we've hit the Start cell + if (potential[startCell] < POT_HIGH) + break; + } + //ROS_INFO("CYCLES %d/%d ", cycle, cycles); + if (cycle < cycles) + return true; // finished up here + else + return false; +} + +// +// Critical function: calculate updated potential value of a cell, +// given its neighbors' values +// Planar-wave update calculation from two lowest neighbors in a 4-grid +// Quadratic approximation to the interpolated value +// No checking of bounds here, this function should be fast +// + +#define INVSQRT2 0.707106781 + +inline void DijkstraExpansion::updateCell(unsigned char* costs, float* potential, int n) { + cells_visited_++; + + // do planar wave update + float c = getCost(costs, n); + if (c >= lethal_cost_) // don't propagate into obstacles + return; + + float pot = p_calc_->calculatePotential(potential, c, n); + + // now add affected neighbors to priority blocks + if (pot < potential[n]) { + float le = INVSQRT2 * (float)getCost(costs, n - 1); + float re = INVSQRT2 * (float)getCost(costs, n + 1); + float ue = INVSQRT2 * (float)getCost(costs, n - nx_); + float de = INVSQRT2 * (float)getCost(costs, n + nx_); + potential[n] = pot; + //ROS_INFO("UPDATE %d %d %d %f", n, n%nx, n/nx, potential[n]); + if (pot < threshold_) // low-cost buffer block + { + if (potential[n - 1] > pot + le) + push_next(n-1); + if (potential[n + 1] > pot + re) + push_next(n+1); + if (potential[n - nx_] > pot + ue) + push_next(n-nx_); + if (potential[n + nx_] > pot + de) + push_next(n+nx_); + } else // overflow block + { + if (potential[n - 1] > pot + le) + push_over(n-1); + if (potential[n + 1] > pot + re) + push_over(n+1); + if (potential[n - nx_] > pot + ue) + push_over(n-nx_); + if (potential[n + nx_] > pot + de) + push_over(n+nx_); + } + } +} + +} //end namespace global_planner diff --git a/src/navigation/global_planner/src/gradient_path.cpp b/src/navigation/global_planner/src/gradient_path.cpp new file mode 100644 index 0000000..009febe --- /dev/null +++ b/src/navigation/global_planner/src/gradient_path.cpp @@ -0,0 +1,315 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include + +namespace global_planner { + +GradientPath::GradientPath(PotentialCalculator* p_calc) : + Traceback(p_calc), pathStep_(0.5) { + gradx_ = grady_ = NULL; +} + +GradientPath::~GradientPath() { + + if (gradx_) + delete[] gradx_; + if (grady_) + delete[] grady_; +} + +void GradientPath::setSize(int xs, int ys) { + Traceback::setSize(xs, ys); + if (gradx_) + delete[] gradx_; + if (grady_) + delete[] grady_; + gradx_ = new float[xs * ys]; + grady_ = new float[xs * ys]; +} + +bool GradientPath::getPath(float* potential, double start_x, double start_y, double goal_x, double goal_y, std::vector >& path) { + std::pair current; + int stc = getIndex(goal_x, goal_y); + + // set up offset + float dx = goal_x - (int)goal_x; + float dy = goal_y - (int)goal_y; + int ns = xs_ * ys_; + memset(gradx_, 0, ns * sizeof(float)); + memset(grady_, 0, ns * sizeof(float)); + + int c = 0; + while (c++ xs_ * ys_ - xs_) // would be out of bounds + { + printf("[PathCalc] Out of bounds\n"); + return false; + } + + current.first = nx; + current.second = ny; + + //ROS_INFO("%d %d | %f %f ", stc%xs_, stc/xs_, dx, dy); + + path.push_back(current); + + bool oscillation_detected = false; + int npath = path.size(); + if (npath > 2 && path[npath - 1].first == path[npath - 3].first + && path[npath - 1].second == path[npath - 3].second) { + ROS_DEBUG("[PathCalc] oscillation detected, attempting fix."); + oscillation_detected = true; + } + + int stcnx = stc + xs_; + int stcpx = stc - xs_; + + // check for potentials at eight positions near cell + if (potential[stc] >= POT_HIGH || potential[stc + 1] >= POT_HIGH || potential[stc - 1] >= POT_HIGH + || potential[stcnx] >= POT_HIGH || potential[stcnx + 1] >= POT_HIGH || potential[stcnx - 1] >= POT_HIGH + || potential[stcpx] >= POT_HIGH || potential[stcpx + 1] >= POT_HIGH || potential[stcpx - 1] >= POT_HIGH + || oscillation_detected) { + ROS_DEBUG("[Path] Pot fn boundary, following grid (%0.1f/%d)", potential[stc], (int) path.size()); + // check eight neighbors to find the lowest + int minc = stc; + int minp = potential[stc]; + int st = stcpx - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stc - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stc + 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stcnx - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + stc = minc; + dx = 0; + dy = 0; + + //ROS_DEBUG("[Path] Pot: %0.1f pos: %0.1f,%0.1f", + // potential[stc], path[npath-1].first, path[npath-1].second); + + if (potential[stc] >= POT_HIGH) { + ROS_DEBUG("[PathCalc] No path found, high potential"); + //savemap("navfn_highpot"); + return 0; + } + } + + // have a good gradient here + else { + + // get grad at four positions near cell + gradCell(potential, stc); + gradCell(potential, stc + 1); + gradCell(potential, stcnx); + gradCell(potential, stcnx + 1); + + // get interpolated gradient + float x1 = (1.0 - dx) * gradx_[stc] + dx * gradx_[stc + 1]; + float x2 = (1.0 - dx) * gradx_[stcnx] + dx * gradx_[stcnx + 1]; + float x = (1.0 - dy) * x1 + dy * x2; // interpolated x + float y1 = (1.0 - dx) * grady_[stc] + dx * grady_[stc + 1]; + float y2 = (1.0 - dx) * grady_[stcnx] + dx * grady_[stcnx + 1]; + float y = (1.0 - dy) * y1 + dy * y2; // interpolated y + + // show gradients + ROS_DEBUG( + "[Path] %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f; final x=%.3f, y=%.3f\n", gradx_[stc], grady_[stc], gradx_[stc+1], grady_[stc+1], gradx_[stcnx], grady_[stcnx], gradx_[stcnx+1], grady_[stcnx+1], x, y); + + // check for zero gradient, failed + if (x == 0.0 && y == 0.0) { + ROS_DEBUG("[PathCalc] Zero gradient"); + return 0; + } + + // move in the right direction + float ss = pathStep_ / hypot(x, y); + dx += x * ss; + dy += y * ss; + + // check for overflow + if (dx > 1.0) { + stc++; + dx -= 1.0; + } + if (dx < -1.0) { + stc--; + dx += 1.0; + } + if (dy > 1.0) { + stc += xs_; + dy -= 1.0; + } + if (dy < -1.0) { + stc -= xs_; + dy += 1.0; + } + + } + + //printf("[Path] Pot: %0.1f grad: %0.1f,%0.1f pos: %0.1f,%0.1f\n", + // potential[stc], dx, dy, path[npath-1].first, path[npath-1].second); + } + + return false; +} + +/* + int + NavFn::calcPath(int n, int *st) + { + // set up start position at cell + // st is always upper left corner for 4-point bilinear interpolation + if (st == NULL) st = start; + int stc = st[1]*nx + st[0]; + + // go for cycles at most + for (int i=0; i 0.0) // check this cell + return 1.0; + + if (n < xs_ || n > xs_ * ys_ - xs_) // would be out of bounds + return 0.0; + float cv = potential[n]; + float dx = 0.0; + float dy = 0.0; + + // check for in an obstacle + if (cv >= POT_HIGH) { + if (potential[n - 1] < POT_HIGH) + dx = -lethal_cost_; + else if (potential[n + 1] < POT_HIGH) + dx = lethal_cost_; + + if (potential[n - xs_] < POT_HIGH) + dy = -lethal_cost_; + else if (potential[n + xs_] < POT_HIGH) + dy = lethal_cost_; + } + + else // not in an obstacle + { + // dx calc, average to sides + if (potential[n - 1] < POT_HIGH) + dx += potential[n - 1] - cv; + if (potential[n + 1] < POT_HIGH) + dx += cv - potential[n + 1]; + + // dy calc, average to sides + if (potential[n - xs_] < POT_HIGH) + dy += potential[n - xs_] - cv; + if (potential[n + xs_] < POT_HIGH) + dy += cv - potential[n + xs_]; + } + + // normalize + float norm = hypot(dx, dy); + if (norm > 0) { + norm = 1.0 / norm; + gradx_[n] = norm * dx; + grady_[n] = norm * dy; + } + return norm; +} + +} //end namespace global_planner + diff --git a/src/navigation/global_planner/src/grid_path.cpp b/src/navigation/global_planner/src/grid_path.cpp new file mode 100644 index 0000000..3bf49e4 --- /dev/null +++ b/src/navigation/global_planner/src/grid_path.cpp @@ -0,0 +1,85 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +namespace global_planner { + +bool GridPath::getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path) { + std::pair current; + current.first = end_x; + current.second = end_y; + + int start_index = getIndex(start_x, start_y); + + path.push_back(current); + int c = 0; + int ns = xs_ * ys_; + + while (getIndex(current.first, current.second) != start_index) { + float min_val = 1e10; + int min_x = 0, min_y = 0; + for (int xd = -1; xd <= 1; xd++) { + for (int yd = -1; yd <= 1; yd++) { + if (xd == 0 && yd == 0) + continue; + int x = current.first + xd, y = current.second + yd; + int index = getIndex(x, y); + if (potential[index] < min_val) { + min_val = potential[index]; + min_x = x; + min_y = y; + } + } + } + if (min_x == 0 && min_y == 0) + return false; + current.first = min_x; + current.second = min_y; + path.push_back(current); + + if(c++>ns*4){ + return false; + } + + } + return true; +} + +} //end namespace global_planner + diff --git a/src/navigation/global_planner/src/orientation_filter.cpp b/src/navigation/global_planner/src/orientation_filter.cpp new file mode 100644 index 0000000..4473dae --- /dev/null +++ b/src/navigation/global_planner/src/orientation_filter.cpp @@ -0,0 +1,135 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, David V. Lu!! + * 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 David V. Lu 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 OWNER 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. + * + * Author: David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include + +namespace global_planner { + +void set_angle(geometry_msgs::PoseStamped* pose, double angle) +{ + tf2::Quaternion q; + q.setRPY(0, 0, angle); + tf2::convert(q, pose->pose.orientation); +} + +void OrientationFilter::processPath(const geometry_msgs::PoseStamped& start, + std::vector& path) +{ + int n = path.size(); + if (n == 0) return; + switch(omode_) { + case FORWARD: + for(int i=0;i0 ){ + const double new_angle = tf2::getYaw(path[i-1].pose.orientation); + double diff = fabs(angles::shortest_angular_distance(new_angle, last)); + if( diff>0.35) + break; + else + i--; + } + + path[0].pose.orientation = start.pose.orientation; + interpolate(path, i, n-1); + break; + } +} + +void OrientationFilter::setAngleBasedOnPositionDerivative(std::vector& path, int index) +{ + int index0 = std::max(0, index - window_size_); + int index1 = std::min((int)path.size() - 1, index + window_size_); + + double x0 = path[index0].pose.position.x, + y0 = path[index0].pose.position.y, + x1 = path[index1].pose.position.x, + y1 = path[index1].pose.position.y; + + double angle = atan2(y1-y0,x1-x0); + set_angle(&path[index], angle); +} + +void OrientationFilter::interpolate(std::vector& path, + int start_index, int end_index) +{ + const double start_yaw = tf2::getYaw(path[start_index].pose.orientation), + end_yaw = tf2::getYaw(path[end_index ].pose.orientation); + double diff = angles::shortest_angular_distance(start_yaw, end_yaw); + double increment = diff/(end_index-start_index); + for(int i=start_index; i<=end_index; i++){ + double angle = start_yaw + increment * i; + set_angle(&path[i], angle); + } +} + + +}; diff --git a/src/navigation/global_planner/src/plan_node.cpp b/src/navigation/global_planner/src/plan_node.cpp new file mode 100644 index 0000000..c0156bf --- /dev/null +++ b/src/navigation/global_planner/src/plan_node.cpp @@ -0,0 +1,111 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Bhaskara Marthi + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include + +namespace cm = costmap_2d; +namespace rm = geometry_msgs; + +using std::vector; +using rm::PoseStamped; +using std::string; +using cm::Costmap2D; +using cm::Costmap2DROS; + +namespace global_planner { + +class PlannerWithCostmap : public GlobalPlanner { + public: + PlannerWithCostmap(string name, Costmap2DROS* cmap); + bool makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp); + + private: + void poseCallback(const rm::PoseStamped::ConstPtr& goal); + Costmap2DROS* cmap_; + ros::ServiceServer make_plan_service_; + ros::Subscriber pose_sub_; +}; + +bool PlannerWithCostmap::makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp) { + vector path; + + req.start.header.frame_id = "map"; + req.goal.header.frame_id = "map"; + bool success = makePlan(req.start, req.goal, path); + resp.plan_found = success; + if (success) { + resp.path = path; + } + + return true; +} + +void PlannerWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) { + geometry_msgs::PoseStamped global_pose; + cmap_->getRobotPose(global_pose); + vector path; + makePlan(global_pose, *goal, path); +} + +PlannerWithCostmap::PlannerWithCostmap(string name, Costmap2DROS* cmap) : + GlobalPlanner(name, cmap->getCostmap(), cmap->getGlobalFrameID()) { + ros::NodeHandle private_nh("~"); + cmap_ = cmap; + make_plan_service_ = private_nh.advertiseService("make_plan", &PlannerWithCostmap::makePlanService, this); + pose_sub_ = private_nh.subscribe("goal", 1, &PlannerWithCostmap::poseCallback, this); +} + +} // namespace + +int main(int argc, char** argv) { + ros::init(argc, argv, "global_planner"); + + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + costmap_2d::Costmap2DROS lcr("costmap", buffer); + + global_planner::PlannerWithCostmap pppp("planner", &lcr); + + ros::spin(); + return 0; +} + diff --git a/src/navigation/global_planner/src/planner_core.cpp b/src/navigation/global_planner/src/planner_core.cpp new file mode 100644 index 0000000..0aa7f62 --- /dev/null +++ b/src/navigation/global_planner/src/planner_core.cpp @@ -0,0 +1,438 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(global_planner::GlobalPlanner, nav_core::BaseGlobalPlanner) + +namespace global_planner { + +void GlobalPlanner::outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value) { + unsigned char* pc = costarr; + for (int i = 0; i < nx; i++) + *pc++ = value; + pc = costarr + (ny - 1) * nx; + for (int i = 0; i < nx; i++) + *pc++ = value; + pc = costarr; + for (int i = 0; i < ny; i++, pc += nx) + *pc = value; + pc = costarr + nx - 1; + for (int i = 0; i < ny; i++, pc += nx) + *pc = value; +} + +GlobalPlanner::GlobalPlanner() : + costmap_(NULL), initialized_(false), allow_unknown_(true), + p_calc_(NULL), planner_(NULL), path_maker_(NULL), orientation_filter_(NULL), + potential_array_(NULL) { +} + +GlobalPlanner::GlobalPlanner(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id) : + GlobalPlanner() { + //initialize the planner + initialize(name, costmap, frame_id); +} + +GlobalPlanner::~GlobalPlanner() { + if (p_calc_) + delete p_calc_; + if (planner_) + delete planner_; + if (path_maker_) + delete path_maker_; + if (dsrv_) + delete dsrv_; +} + +void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) { + initialize(name, costmap_ros->getCostmap(), costmap_ros->getGlobalFrameID()); +} + +void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id) { + if (!initialized_) { + ros::NodeHandle private_nh("~/" + name); + costmap_ = costmap; + frame_id_ = frame_id; + + unsigned int cx = costmap->getSizeInCellsX(), cy = costmap->getSizeInCellsY(); + + private_nh.param("old_navfn_behavior", old_navfn_behavior_, false); + if(!old_navfn_behavior_) + convert_offset_ = 0.5; + else + convert_offset_ = 0.0; + + bool use_quadratic; + private_nh.param("use_quadratic", use_quadratic, true); + if (use_quadratic) + p_calc_ = new QuadraticCalculator(cx, cy); + else + p_calc_ = new PotentialCalculator(cx, cy); + + bool use_dijkstra; + private_nh.param("use_dijkstra", use_dijkstra, true); + if (use_dijkstra) + { + DijkstraExpansion* de = new DijkstraExpansion(p_calc_, cx, cy); + if(!old_navfn_behavior_) + de->setPreciseStart(true); + planner_ = de; + } + else + planner_ = new AStarExpansion(p_calc_, cx, cy); + + bool use_grid_path; + private_nh.param("use_grid_path", use_grid_path, false); + if (use_grid_path) + path_maker_ = new GridPath(p_calc_); + else + path_maker_ = new GradientPath(p_calc_); + + orientation_filter_ = new OrientationFilter(); + + plan_pub_ = private_nh.advertise("plan", 1); + potential_pub_ = private_nh.advertise("potential", 1); + + private_nh.param("allow_unknown", allow_unknown_, true); + planner_->setHasUnknown(allow_unknown_); + private_nh.param("planner_window_x", planner_window_x_, 0.0); + private_nh.param("planner_window_y", planner_window_y_, 0.0); + private_nh.param("default_tolerance", default_tolerance_, 0.0); + private_nh.param("publish_scale", publish_scale_, 100); + private_nh.param("outline_map", outline_map_, true); + + make_plan_srv_ = private_nh.advertiseService("make_plan", &GlobalPlanner::makePlanService, this); + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~/" + name)); + dynamic_reconfigure::Server::CallbackType cb = boost::bind( + &GlobalPlanner::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + + initialized_ = true; + } else + ROS_WARN("This planner has already been initialized, you can't call it twice, doing nothing"); + +} + +void GlobalPlanner::reconfigureCB(global_planner::GlobalPlannerConfig& config, uint32_t level) { + planner_->setLethalCost(config.lethal_cost); + path_maker_->setLethalCost(config.lethal_cost); + planner_->setNeutralCost(config.neutral_cost); + planner_->setFactor(config.cost_factor); + publish_potential_ = config.publish_potential; + orientation_filter_->setMode(config.orientation_mode); + orientation_filter_->setWindowSize(config.orientation_window_size); +} + +void GlobalPlanner::clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //set the associated costs in the cost map to be free + costmap_->setCost(mx, my, costmap_2d::FREE_SPACE); +} + +bool GlobalPlanner::makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp) { + makePlan(req.start, req.goal, resp.plan.poses); + + resp.plan.header.stamp = ros::Time::now(); + resp.plan.header.frame_id = frame_id_; + + return true; +} + +void GlobalPlanner::mapToWorld(double mx, double my, double& wx, double& wy) { + wx = costmap_->getOriginX() + (mx+convert_offset_) * costmap_->getResolution(); + wy = costmap_->getOriginY() + (my+convert_offset_) * costmap_->getResolution(); +} + +bool GlobalPlanner::worldToMap(double wx, double wy, double& mx, double& my) { + double origin_x = costmap_->getOriginX(), origin_y = costmap_->getOriginY(); + double resolution = costmap_->getResolution(); + + if (wx < origin_x || wy < origin_y) + return false; + + mx = (wx - origin_x) / resolution - convert_offset_; + my = (wy - origin_y) / resolution - convert_offset_; + + if (mx < costmap_->getSizeInCellsX() && my < costmap_->getSizeInCellsY()) + return true; + + return false; +} + +bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + std::vector& plan) { + return makePlan(start, goal, default_tolerance_, plan); +} + +bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + double tolerance, std::vector& plan) { + boost::mutex::scoped_lock lock(mutex_); + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + ros::NodeHandle n; + std::string global_frame = frame_id_; + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if (goal.header.frame_id != global_frame) { + ROS_ERROR( + "The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", global_frame.c_str(), goal.header.frame_id.c_str()); + return false; + } + + if (start.header.frame_id != global_frame) { + ROS_ERROR( + "The start pose passed to this planner must be in the %s frame. It is instead in the %s frame.", global_frame.c_str(), start.header.frame_id.c_str()); + return false; + } + + double wx = start.pose.position.x; + double wy = start.pose.position.y; + + unsigned int start_x_i, start_y_i, goal_x_i, goal_y_i; + double start_x, start_y, goal_x, goal_y; + + if (!costmap_->worldToMap(wx, wy, start_x_i, start_y_i)) { + ROS_WARN( + "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?"); + return false; + } + if(old_navfn_behavior_){ + start_x = start_x_i; + start_y = start_y_i; + }else{ + worldToMap(wx, wy, start_x, start_y); + } + + wx = goal.pose.position.x; + wy = goal.pose.position.y; + + if (!costmap_->worldToMap(wx, wy, goal_x_i, goal_y_i)) { + ROS_WARN_THROTTLE(1.0, + "The goal sent to the global planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + if(old_navfn_behavior_){ + goal_x = goal_x_i; + goal_y = goal_y_i; + }else{ + worldToMap(wx, wy, goal_x, goal_y); + } + + //clear the starting cell within the costmap because we know it can't be an obstacle + clearRobotCell(start, start_x_i, start_y_i); + + int nx = costmap_->getSizeInCellsX(), ny = costmap_->getSizeInCellsY(); + + //make sure to resize the underlying array that Navfn uses + p_calc_->setSize(nx, ny); + planner_->setSize(nx, ny); + path_maker_->setSize(nx, ny); + potential_array_ = new float[nx * ny]; + + if(outline_map_) + outlineMap(costmap_->getCharMap(), nx, ny, costmap_2d::LETHAL_OBSTACLE); + + bool found_legal = planner_->calculatePotentials(costmap_->getCharMap(), start_x, start_y, goal_x, goal_y, + nx * ny * 2, potential_array_); + + if(!old_navfn_behavior_) + planner_->clearEndpoint(costmap_->getCharMap(), potential_array_, goal_x_i, goal_y_i, 2); + if(publish_potential_) + publishPotential(potential_array_); + + if (found_legal) { + //extract the plan + if (getPlanFromPotential(start_x, start_y, goal_x, goal_y, goal, plan)) { + //make sure the goal we push on has the same timestamp as the rest of the plan + geometry_msgs::PoseStamped goal_copy = goal; + goal_copy.header.stamp = ros::Time::now(); + plan.push_back(goal_copy); + } else { + ROS_ERROR("Failed to get a plan from potential when a legal potential was found. This shouldn't happen."); + } + }else{ + ROS_ERROR_THROTTLE(5.0, "Failed to get a plan."); + } + + // add orientations if needed + orientation_filter_->processPath(start, plan); + + //publish the plan for visualization purposes + publishPlan(plan); + delete[] potential_array_; + return !plan.empty(); +} + +void GlobalPlanner::publishPlan(const std::vector& path) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //create a message for the plan + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + + gui_path.header.frame_id = frame_id_; + gui_path.header.stamp = ros::Time::now(); + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for (unsigned int i = 0; i < path.size(); i++) { + gui_path.poses[i] = path[i]; + } + + plan_pub_.publish(gui_path); +} + +bool GlobalPlanner::getPlanFromPotential(double start_x, double start_y, double goal_x, double goal_y, + const geometry_msgs::PoseStamped& goal, + std::vector& plan) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + std::string global_frame = frame_id_; + + //clear the plan, just in case + plan.clear(); + + std::vector > path; + + if (!path_maker_->getPath(potential_array_, start_x, start_y, goal_x, goal_y, path)) { + ROS_ERROR("NO PATH!"); + return false; + } + + ros::Time plan_time = ros::Time::now(); + for (int i = path.size() -1; i>=0; i--) { + std::pair point = path[i]; + //convert the plan to world coordinates + double world_x, world_y; + mapToWorld(point.first, point.second, world_x, world_y); + + geometry_msgs::PoseStamped pose; + pose.header.stamp = plan_time; + pose.header.frame_id = global_frame; + pose.pose.position.x = world_x; + pose.pose.position.y = world_y; + pose.pose.position.z = 0.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + pose.pose.orientation.w = 1.0; + plan.push_back(pose); + } + if(old_navfn_behavior_){ + plan.push_back(goal); + } + return !plan.empty(); +} + +void GlobalPlanner::publishPotential(float* potential) +{ + int nx = costmap_->getSizeInCellsX(), ny = costmap_->getSizeInCellsY(); + double resolution = costmap_->getResolution(); + nav_msgs::OccupancyGrid grid; + // Publish Whole Grid + grid.header.frame_id = frame_id_; + grid.header.stamp = ros::Time::now(); + grid.info.resolution = resolution; + + grid.info.width = nx; + grid.info.height = ny; + + double wx, wy; + costmap_->mapToWorld(0, 0, wx, wy); + grid.info.origin.position.x = wx - resolution / 2; + grid.info.origin.position.y = wy - resolution / 2; + grid.info.origin.position.z = 0.0; + grid.info.origin.orientation.w = 1.0; + + grid.data.resize(nx * ny); + + float max = 0.0; + for (unsigned int i = 0; i < grid.data.size(); i++) { + float potential = potential_array_[i]; + if (potential < POT_HIGH) { + if (potential > max) { + max = potential; + } + } + } + + for (unsigned int i = 0; i < grid.data.size(); i++) { + if (potential_array_[i] >= POT_HIGH) { + grid.data[i] = -1; + } else { + if (fabs(max) < DBL_EPSILON) { + grid.data[i] = -1; + } else { + grid.data[i] = potential_array_[i] * publish_scale_ / max; + } + } + } + potential_pub_.publish(grid); +} + +} //end namespace global_planner diff --git a/src/navigation/global_planner/src/quadratic_calculator.cpp b/src/navigation/global_planner/src/quadratic_calculator.cpp new file mode 100644 index 0000000..afc6b46 --- /dev/null +++ b/src/navigation/global_planner/src/quadratic_calculator.cpp @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include + +namespace global_planner { +float QuadraticCalculator::calculatePotential(float* potential, unsigned char cost, int n, float prev_potential) { + // get neighbors + float u, d, l, r; + l = potential[n - 1]; + r = potential[n + 1]; + u = potential[n - nx_]; + d = potential[n + nx_]; + // ROS_INFO("[Update] c: %f l: %f r: %f u: %f d: %f\n", + // potential[n], l, r, u, d); + // ROS_INFO("[Update] cost: %d\n", costs[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l < r) + tc = l; + else + tc = r; + if (u < d) + ta = u; + else + ta = d; + + float hf = cost; // traversability factor + float dc = tc - ta; // relative cost between ta,tc + if (dc < 0) // tc is lowest + { + dc = -dc; + ta = tc; + } + + // calculate new potential + if (dc >= hf) // if too large, use ta-only update + return ta + hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc / hf; + float v = -0.2301 * d * d + 0.5307 * d + 0.7040; + return ta + hf * v; + } +} +} + diff --git a/src/navigation/map_server/CHANGELOG.rst b/src/navigation/map_server/CHANGELOG.rst new file mode 100644 index 0000000..613b607 --- /dev/null +++ b/src/navigation/map_server/CHANGELOG.rst @@ -0,0 +1,199 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package map_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Change_map service to map_server [Rebase/Noetic] (`#1029 `_) + * Refactored map loading from constructor to three methods + * Added change_map service using LoadMap.srv +* map_server: Initialise a NodeHandle in main. (`#1122 `_) +* Add debug output regarding waiting for time (`#1078 `_) + Added debug messages suggested in https://github.com/ros-planning/navigation/issues/1074#issuecomment-751557177. Makes it easier to discover if use_sim_time is true but no clock server is running +* crop_map: Fix extra pixel origin shift up every cropping (`#1064 `_) (`#1067 `_) + Co-authored-by: Pavlo Kolomiiets +* (map_server) add rtest dependency to tests (`#1061 `_) +* [noetic] MapServer variable cleanup: Precursor for `#1029 `_ (`#1043 `_) +* Contributors: Christian Fritz, David V. Lu!!, Matthijs van der Burgh, Nikos Koukis, Pavlo Kolomiiets + +1.17.1 (2020-08-27) +------------------- +* Initial map_server map_mode tests (`#1006 `_) +* [noetic] Adding CMake way to find yaml-cpp (`#998 `_) +* Contributors: David V. Lu!!, Sean Yen + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Merge pull request `#850 `_ from seanyen/map_server_windows_fix + [Windows][melodic] map_server Windows build bring up +* map_server Windows build bring up + * Fix install location for Windows build. (On Windows build, shared library uses RUNTIME location, but not LIBRARY) + * Use boost::filesystem::path to handle path logic and remove the libgen.h dependency for better cross platform. + * Fix gtest hard-coded and add YAML library dir in CMakeList.txt. +* Contributors: Michael Ferguson, Sean Yen, Steven Macenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Merge pull request `#735 `_ from ros-planning/melodic_708 + Allow specification of free/occupied thresholds for map_saver (`#708 `_) +* Allow specification of free/occupied thresholds for map_saver (`#708 `_) + * add occupied threshold command line parameter to map_saver (--occ) + * add free threshold command line parameter to map_saver (--free) +* Merge pull request `#704 `_ from DLu/fix573_lunar + Map server wait for a valid time fix [lunar] +* Map server wait for a valid time, fix `#573 `_ (`#700 `_) + When launching the map_server with Gazebo, the current time is picked + before the simulation is started and then has a value of 0. + Later when querying the stamp of the map, a value of has a special + signification on tf transform for example. +* Contributors: Michael Ferguson, Romain Reignier, ipa-fez + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Use occupancy values when saving a map (`#613 `_) +* Closes `#625 `_ (`#627 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Hunter Allen, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- +* remove offending library export (fixes `#612 `_) +* Contributors: Michael Ferguson + +1.15.0 (2017-08-07) +------------------- +* Fix compiler warning for GCC 8. +* convert packages to format2 +* Merge pull request `#596 `_ from ros-planning/lunar_548 +* refactor to not use tf version 1 (`#561 `_) +* Fix CMakeLists + package.xmls (`#548 `_) +* Merge pull request `#560 `_ from wjwwood/map_server_fixup_cmake +* update to support Python 2 and 3 (`#559 `_) +* remove duplicate and unreferenced file (`#558 `_) +* remove trailing whitespace from map_server package (`#557 `_) +* fix cmake use of yaml-cpp and sdl / sdl-image +* Fix CMake warnings +* Contributors: Hunter L. Allen, Martin Günther, Michael Ferguson, Mikael Arguedas, Vincent Rabaud, William Woodall + +1.14.0 (2016-05-20) +------------------- +* Corrections to alpha channel detection and usage. + Changing to actually detect whether the image has an alpha channel instead of + inferring based on the number of channels. + Also reverting to legacy behavior of trinary mode overriding alpha removal. + This will cause the alpha channel to be averaged in with the others in trinary + mode, which is the current behavior before this PR. +* Removing some trailing whitespace. +* Use enum to control map interpretation +* Contributors: Aaron Hoy, David Lu + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- +* rename image_loader library, fixes `#208 `_ +* Contributors: Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- +* prevent inf loop +* Contributors: Jeremie Deray + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* map_server: [style] alphabetize dependencies +* map_server: remove vestigial export line + the removed line does not do anything in catkin +* Contributors: William Woodall + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- +* fix build, was broken by `#175 `_ +* Contributors: Michael Ferguson + +1.11.7 (2014-05-21) +------------------- +* make rostest in CMakeLists optional +* Contributors: Lukas Bulwahn + +1.11.5 (2014-01-30) +------------------- +* install crop map +* removing .py from executable script +* Map Server can serve maps with non-lethal values +* Added support for YAML-CPP 0.5+. + The new yaml-cpp API removes the "node >> outputvar;" operator, and + it has a new way of loading documents. There's no version hint in the + library's headers, so I'm getting the version number from pkg-config. +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* prefix utest target to not collide with other targets +* Package URL Updates +* unique target names to avoid conflicts (e.g. with map-store) diff --git a/src/navigation/map_server/CMakeLists.txt b/src/navigation/map_server/CMakeLists.txt new file mode 100644 index 0000000..37a67cc --- /dev/null +++ b/src/navigation/map_server/CMakeLists.txt @@ -0,0 +1,130 @@ +cmake_minimum_required(VERSION 3.0.2) +project(map_server) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + nav_msgs + tf2 + ) + +find_package(Bullet REQUIRED) +find_package(SDL REQUIRED) +find_package(SDL_image REQUIRED) +find_package(Boost REQUIRED COMPONENTS filesystem) + +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAMLCPP yaml-cpp QUIET) +if(NOT YAMLCPP_FOUND) + find_package(yaml-cpp 0.6 REQUIRED) + set(YAMLCPP_INCLUDE_DIRS ${YAML_CPP_INCLUDE_DIR}) + set(YAMLCPP_LIBRARIES ${YAML_CPP_LIBRARIES}) + add_definitions(-DHAVE_YAMLCPP_GT_0_5_0) +else() + if(YAMLCPP_VERSION VERSION_GREATER "0.5.0") + add_definitions(-DHAVE_YAMLCPP_GT_0_5_0) + endif() + link_directories(${YAMLCPP_LIBRARY_DIRS}) +endif() + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + map_server_image_loader + CATKIN_DEPENDS + roscpp + nav_msgs + tf2 +) + +include_directories( + include + ${BULLET_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${SDL_INCLUDE_DIR} + ${SDL_IMAGE_INCLUDE_DIRS} + ${YAMLCPP_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_library(map_server_image_loader src/image_loader.cpp) +add_dependencies(map_server_image_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(map_server_image_loader + ${BULLET_LIBRARIES} + ${catkin_LIBRARIES} + ${SDL_LIBRARY} + ${SDL_IMAGE_LIBRARIES} +) + +add_executable(map_server src/main.cpp) +add_dependencies(map_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(map_server + map_server_image_loader + ${YAMLCPP_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_executable(map_server-map_saver src/map_saver.cpp) +add_dependencies(map_server-map_saver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver) +target_link_libraries(map_server-map_saver + ${catkin_LIBRARIES} +) + +# copy test data to same place as tests are run +function(copy_test_data) + cmake_parse_arguments(PROJECT "" "" "FILES" ${ARGN}) + foreach(datafile ${PROJECT_FILES}) + file(COPY ${datafile} DESTINATION ${PROJECT_BINARY_DIR}/test) + endforeach() +endfunction() + +## Tests +if(CATKIN_ENABLE_TESTING) + copy_test_data( FILES + test/testmap.bmp + test/testmap.png + test/spectrum.png ) + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp test/test_constants.cpp) + target_link_libraries(${PROJECT_NAME}_utest + map_server_image_loader + ${SDL_LIBRARY} + ${SDL_IMAGE_LIBRARIES} + ) + + find_package(roslib REQUIRED) + add_executable(rtest test/rtest.cpp test/test_constants.cpp) + add_dependencies(rtest ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + add_dependencies(tests rtest) + target_link_libraries( rtest + ${GTEST_LIBRARIES} + ${catkin_LIBRARIES} + ${roslib_LIBRARIES} + ) + + # This has to be done after we've already built targets, or catkin variables get borked + find_package(rostest REQUIRED) + add_rostest(test/rtest.xml) +endif() + +## Install executables and/or libraries +install(TARGETS map_server-map_saver map_server + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(TARGETS map_server_image_loader + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + +## Install excutable python script +install( + PROGRAMS + scripts/crop_map + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/src/navigation/map_server/include/map_server/image_loader.h b/src/navigation/map_server/include/map_server/image_loader.h new file mode 100644 index 0000000..1f64c8b --- /dev/null +++ b/src/navigation/map_server/include/map_server/image_loader.h @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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 MAP_SERVER_MAP_SERVER_H +#define MAP_SERVER_MAP_SERVER_H + +/* + * Author: Brian Gerkey + */ + +#include "nav_msgs/GetMap.h" + +/** Map mode + * Default: TRINARY - + * value >= occ_th - Occupied (100) + * value <= free_th - Free (0) + * otherwise - Unknown + * SCALE - + * alpha < 1.0 - Unknown + * value >= occ_th - Occupied (100) + * value <= free_th - Free (0) + * otherwise - f( (free_th, occ_th) ) = (0, 100) + * (linearly map in between values to (0,100) + * RAW - + * value = value + */ +enum MapMode {TRINARY, SCALE, RAW}; + +namespace map_server +{ + +/** Read the image from file and fill out the resp object, for later + * use when our services are requested. + * + * @param resp The map wil be written into here + * @param fname The image file to read from + * @param res The resolution of the map (gets stored in resp) + * @param negate If true, then whiter pixels are occupied, and blacker + * pixels are free + * @param occ_th Threshold above which pixels are occupied + * @param free_th Threshold below which pixels are free + * @param origin Triple specifying 2-D pose of lower-left corner of image + * @param mode Map mode + * @throws std::runtime_error If the image file can't be loaded + * */ +void loadMapFromFile(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode=TRINARY); +} + +#endif diff --git a/src/navigation/map_server/package.xml b/src/navigation/map_server/package.xml new file mode 100644 index 0000000..c1be448 --- /dev/null +++ b/src/navigation/map_server/package.xml @@ -0,0 +1,33 @@ + + + + map_server + 1.17.2 + + + map_server provides the map_server ROS Node, which offers map data as a ROS Service. It also provides the map_saver command-line utility, which allows dynamically generated maps to be saved to file. + + + Brian Gerkey, Tony Pratkanis + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + http://wiki.ros.org/map_server + BSD + + catkin + + bullet + nav_msgs + roscpp + sdl + sdl-image + tf2 + yaml-cpp + + roslib + rospy + rostest + rosunit + diff --git a/src/navigation/map_server/scripts/crop_map b/src/navigation/map_server/scripts/crop_map new file mode 100755 index 0000000..df11a48 --- /dev/null +++ b/src/navigation/map_server/scripts/crop_map @@ -0,0 +1,110 @@ +#!/usr/bin/env python +# Software License Agreement (BSD License) +# +# Copyright (c) 2008, Willow Garage, Inc. +# 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 Willow Garage 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 OWNER 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. +# + +from __future__ import print_function + +import sys +import yaml +from PIL import Image +import math + +def find_bounds(map_image): + x_min = map_image.size[0] + x_end = 0 + y_min = map_image.size[1] + y_end = 0 + pix = map_image.load() + for x in range(map_image.size[0]): + for y in range(map_image.size[1]): + val = pix[x, y] + if val != 205: # not unknown + x_min = min(x, x_min) + x_end = max(x, x_end) + y_min = min(y, y_min) + y_end = max(y, y_end) + return x_min, x_end, y_min, y_end + +def computed_cropped_origin(map_image, bounds, resolution, origin): + """ Compute the image for the cropped map when map_image is cropped by bounds and had origin before. """ + ox = origin[0] + oy = origin[1] + oth = origin[2] + + # First figure out the delta we have to translate from the lower left corner (which is the origin) + # in the image system + dx = bounds[0] * resolution + dy = (map_image.size[1] - bounds[3] - 1) * resolution + + # Next rotate this by the theta and add to the old origin + + new_ox = ox + dx * math.cos(oth) - dy * math.sin(oth) + new_oy = oy + dx * math.sin(oth) + dy * math.cos(oth) + + return [new_ox, new_oy, oth] + +if __name__ == "__main__": + if len(sys.argv) < 2: + print("Usage: %s map.yaml [cropped.yaml]" % sys.argv[0], file=sys.stderr) + sys.exit(1) + + with open(sys.argv[1]) as f: + map_data = yaml.safe_load(f) + + if len(sys.argv) > 2: + crop_name = sys.argv[2] + if crop_name.endswith(".yaml"): + crop_name = crop_name[:-5] + crop_yaml = crop_name + ".yaml" + crop_image = crop_name + ".pgm" + else: + crop_yaml = "cropped.yaml" + crop_image = "cropped.pgm" + + map_image_file = map_data["image"] + resolution = map_data["resolution"] + origin = map_data["origin"] + + map_image = Image.open(map_image_file) + + bounds = find_bounds(map_image) + + # left, upper, right, lower + cropped_image = map_image.crop((bounds[0], bounds[2], bounds[1] + 1, bounds[3] + 1)) + + cropped_image.save(crop_image) + map_data["image"] = crop_image + map_data["origin"] = computed_cropped_origin(map_image, bounds, resolution, origin) + with open(crop_yaml, "w") as f: + yaml.dump(map_data, f) + diff --git a/src/navigation/map_server/src/image_loader.cpp b/src/navigation/map_server/src/image_loader.cpp new file mode 100644 index 0000000..6b81233 --- /dev/null +++ b/src/navigation/map_server/src/image_loader.cpp @@ -0,0 +1,165 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* + * This file contains helper functions for loading images as maps. + * + * Author: Brian Gerkey + */ + +#include +#include + +#include +#include + +// We use SDL_image to load the image from disk +#include + +// Use Bullet's Quaternion object to create one from Euler angles +#include + +#include "map_server/image_loader.h" + +// compute linear index for given map coords +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) + +namespace map_server +{ + +void +loadMapFromFile(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode) +{ + SDL_Surface* img; + + unsigned char* pixels; + unsigned char* p; + unsigned char value; + int rowstride, n_channels, avg_channels; + unsigned int i,j; + int k; + double occ; + int alpha; + int color_sum; + double color_avg; + + // Load the image using SDL. If we get NULL back, the image load failed. + if(!(img = IMG_Load(fname))) + { + std::string errmsg = std::string("failed to open image file \"") + + std::string(fname) + std::string("\": ") + IMG_GetError(); + throw std::runtime_error(errmsg); + } + + // Copy the image data into the map structure + resp->map.info.width = img->w; + resp->map.info.height = img->h; + resp->map.info.resolution = res; + resp->map.info.origin.position.x = *(origin); + resp->map.info.origin.position.y = *(origin+1); + resp->map.info.origin.position.z = 0.0; + btQuaternion q; + // setEulerZYX(yaw, pitch, roll) + q.setEulerZYX(*(origin+2), 0, 0); + resp->map.info.origin.orientation.x = q.x(); + resp->map.info.origin.orientation.y = q.y(); + resp->map.info.origin.orientation.z = q.z(); + resp->map.info.origin.orientation.w = q.w(); + + // Allocate space to hold the data + resp->map.data.resize(resp->map.info.width * resp->map.info.height); + + // Get values that we'll need to iterate through the pixels + rowstride = img->pitch; + n_channels = img->format->BytesPerPixel; + + // NOTE: Trinary mode still overrides here to preserve existing behavior. + // Alpha will be averaged in with color channels when using trinary mode. + if (mode==TRINARY || !img->format->Amask) + avg_channels = n_channels; + else + avg_channels = n_channels - 1; + + // Copy pixel data into the map structure + pixels = (unsigned char*)(img->pixels); + for(j = 0; j < resp->map.info.height; j++) + { + for (i = 0; i < resp->map.info.width; i++) + { + // Compute mean of RGB for this pixel + p = pixels + j*rowstride + i*n_channels; + color_sum = 0; + for(k=0;kmap.data[MAP_IDX(resp->map.info.width,i,resp->map.info.height - j - 1)] = value; + continue; + } + + + // If negate is true, we consider blacker pixels free, and whiter + // pixels occupied. Otherwise, it's vice versa. + occ = (255 - color_avg) / 255.0; + + // Apply thresholds to RGB means to determine occupancy values for + // map. Note that we invert the graphics-ordering of the pixels to + // produce a map with cell (0,0) in the lower-left corner. + if(occ > occ_th) + value = +100; + else if(occ < free_th) + value = 0; + else if(mode==TRINARY || alpha < 1.0) + value = -1; + else { + double ratio = (occ - free_th) / (occ_th - free_th); + value = 1 + 98 * ratio; + } + + resp->map.data[MAP_IDX(resp->map.info.width,i,resp->map.info.height - j - 1)] = value; + } + } + + SDL_FreeSurface(img); +} + +} diff --git a/src/navigation/map_server/src/main.cpp b/src/navigation/map_server/src/main.cpp new file mode 100644 index 0000000..043fb35 --- /dev/null +++ b/src/navigation/map_server/src/main.cpp @@ -0,0 +1,326 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* Author: Brian Gerkey */ + +#define USAGE "\nUSAGE: map_server \n" \ + " map.yaml: map description file\n" \ + "DEPRECATED USAGE: map_server \n" \ + " map: image file to load\n"\ + " resolution: map resolution [meters/pixel]" + +#include +#include +#include +#include + +#include "ros/ros.h" +#include "ros/console.h" +#include "map_server/image_loader.h" +#include "nav_msgs/MapMetaData.h" +#include "nav_msgs/LoadMap.h" +#include "yaml-cpp/yaml.h" + +#ifdef HAVE_YAMLCPP_GT_0_5_0 +// The >> operator disappeared in yaml-cpp 0.5, so this function is +// added to provide support for code written under the yaml-cpp 0.3 API. +template +void operator >> (const YAML::Node& node, T& i) +{ + i = node.as(); +} +#endif + +class MapServer +{ + public: + /** Trivial constructor */ + MapServer(const std::string& fname, double res) + { + std::string mapfname = ""; + double origin[3]; + int negate; + double occ_th, free_th; + MapMode mode = TRINARY; + ros::NodeHandle private_nh("~"); + private_nh.param("frame_id", frame_id_, std::string("map")); + + //When called this service returns a copy of the current map + get_map_service_ = nh_.advertiseService("static_map", &MapServer::mapCallback, this); + + //Change the currently published map + change_map_srv_ = nh_.advertiseService("change_map", &MapServer::changeMapCallback, this); + + // Latched publisher for metadata + metadata_pub_ = nh_.advertise("map_metadata", 1, true); + + // Latched publisher for data + map_pub_ = nh_.advertise("map", 1, true); + + deprecated_ = (res != 0); + if (!deprecated_) { + if (!loadMapFromYaml(fname)) + { + exit(-1); + } + } else { + if (!loadMapFromParams(fname, res)) + { + exit(-1); + } + } + } + + private: + ros::NodeHandle nh_; + ros::Publisher map_pub_; + ros::Publisher metadata_pub_; + ros::ServiceServer get_map_service_; + ros::ServiceServer change_map_srv_; + bool deprecated_; + std::string frame_id_; + + /** Callback invoked when someone requests our service */ + bool mapCallback(nav_msgs::GetMap::Request &req, + nav_msgs::GetMap::Response &res ) + { + // request is empty; we ignore it + + // = operator is overloaded to make deep copy (tricky!) + res = map_resp_; + ROS_INFO("Sending map"); + + return true; + } + + /** Callback invoked when someone requests to change the map */ + bool changeMapCallback(nav_msgs::LoadMap::Request &request, + nav_msgs::LoadMap::Response &response ) + { + if (loadMapFromYaml(request.map_url)) + { + response.result = response.RESULT_SUCCESS; + ROS_INFO("Changed map to %s", request.map_url.c_str()); + } + else + { + response.result = response.RESULT_UNDEFINED_FAILURE; + } + return true; + } + + /** Load a map given all the values needed to understand it + */ + bool loadMapFromValues(std::string map_file_name, double resolution, + int negate, double occ_th, double free_th, + double origin[3], MapMode mode) + { + ROS_INFO("Loading map from image \"%s\"", map_file_name.c_str()); + try { + map_server::loadMapFromFile(&map_resp_, map_file_name.c_str(), + resolution, negate, occ_th, free_th, + origin, mode); + } catch (std::runtime_error& e) { + ROS_ERROR("%s", e.what()); + return false; + } + + // To make sure get a consistent time in simulation + ros::Time::waitForValid(); + map_resp_.map.info.map_load_time = ros::Time::now(); + map_resp_.map.header.frame_id = frame_id_; + map_resp_.map.header.stamp = ros::Time::now(); + ROS_INFO("Read a %d X %d map @ %.3lf m/cell", + map_resp_.map.info.width, + map_resp_.map.info.height, + map_resp_.map.info.resolution); + meta_data_message_ = map_resp_.map.info; + + //Publish latched topics + metadata_pub_.publish( meta_data_message_ ); + map_pub_.publish( map_resp_.map ); + return true; + } + + /** Load a map using the deprecated method + */ + bool loadMapFromParams(std::string map_file_name, double resolution) + { + ros::NodeHandle private_nh("~"); + int negate; + double occ_th; + double free_th; + double origin[3]; + private_nh.param("negate", negate, 0); + private_nh.param("occupied_thresh", occ_th, 0.65); + private_nh.param("free_thresh", free_th, 0.196); + origin[0] = origin[1] = origin[2] = 0.0; + return loadMapFromValues(map_file_name, resolution, negate, occ_th, free_th, origin, TRINARY); + } + + /** Load a map given a path to a yaml file + */ + bool loadMapFromYaml(std::string path_to_yaml) + { + std::string mapfname; + MapMode mode; + double res; + int negate; + double occ_th; + double free_th; + double origin[3]; + std::ifstream fin(path_to_yaml.c_str()); + if (fin.fail()) { + ROS_ERROR("Map_server could not open %s.", path_to_yaml.c_str()); + return false; + } +#ifdef HAVE_YAMLCPP_GT_0_5_0 + // The document loading process changed in yaml-cpp 0.5. + YAML::Node doc = YAML::Load(fin); +#else + YAML::Parser parser(fin); + YAML::Node doc; + parser.GetNextDocument(doc); +#endif + try { + doc["resolution"] >> res; + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain a resolution tag or it is invalid."); + return false; + } + try { + doc["negate"] >> negate; + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain a negate tag or it is invalid."); + return false; + } + try { + doc["occupied_thresh"] >> occ_th; + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain an occupied_thresh tag or it is invalid."); + return false; + } + try { + doc["free_thresh"] >> free_th; + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain a free_thresh tag or it is invalid."); + return false; + } + try { + std::string modeS = ""; + doc["mode"] >> modeS; + + if(modeS=="trinary") + mode = TRINARY; + else if(modeS=="scale") + mode = SCALE; + else if(modeS=="raw") + mode = RAW; + else{ + ROS_ERROR("Invalid mode tag \"%s\".", modeS.c_str()); + return false; + } + } catch (YAML::Exception &) { + ROS_DEBUG("The map does not contain a mode tag or it is invalid... assuming Trinary"); + mode = TRINARY; + } + try { + doc["origin"][0] >> origin[0]; + doc["origin"][1] >> origin[1]; + doc["origin"][2] >> origin[2]; + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain an origin tag or it is invalid."); + return false; + } + try { + doc["image"] >> mapfname; + // TODO: make this path-handling more robust + if(mapfname.size() == 0) + { + ROS_ERROR("The image tag cannot be an empty string."); + return false; + } + + boost::filesystem::path mapfpath(mapfname); + if (!mapfpath.is_absolute()) + { + boost::filesystem::path dir(path_to_yaml); + dir = dir.parent_path(); + mapfpath = dir / mapfpath; + mapfname = mapfpath.string(); + } + } catch (YAML::InvalidScalar &) { + ROS_ERROR("The map does not contain an image tag or it is invalid."); + return false; + } + return loadMapFromValues(mapfname, res, negate, occ_th, free_th, origin, mode); + } + + /** The map data is cached here, to be sent out to service callers + */ + nav_msgs::MapMetaData meta_data_message_; + nav_msgs::GetMap::Response map_resp_; + + /* + void metadataSubscriptionCallback(const ros::SingleSubscriberPublisher& pub) + { + pub.publish( meta_data_message_ ); + } + */ + +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "map_server", ros::init_options::AnonymousName); + ros::NodeHandle nh("~"); + if(argc != 3 && argc != 2) + { + ROS_ERROR("%s", USAGE); + exit(-1); + } + if (argc != 2) { + ROS_WARN("Using deprecated map server interface. Please switch to new interface."); + } + std::string fname(argv[1]); + double res = (argc == 2) ? 0.0 : atof(argv[2]); + + try + { + MapServer ms(fname, res); + ros::spin(); + } + catch(std::runtime_error& e) + { + ROS_ERROR("map_server exception: %s", e.what()); + return -1; + } + + return 0; +} diff --git a/src/navigation/map_server/src/map_saver.cpp b/src/navigation/map_server/src/map_saver.cpp new file mode 100644 index 0000000..aa6afb5 --- /dev/null +++ b/src/navigation/map_server/src/map_saver.cpp @@ -0,0 +1,217 @@ +/* + * map_saver + * Copyright (c) 2008, Willow Garage, Inc. + * 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 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 OWNER 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. + */ + +#include +#include "ros/ros.h" +#include "ros/console.h" +#include "nav_msgs/GetMap.h" +#include "tf2/LinearMath/Matrix3x3.h" +#include "geometry_msgs/Quaternion.h" + +using namespace std; + +/** + * @brief Map generation node. + */ +class MapGenerator +{ + + public: + MapGenerator(const std::string& mapname, int threshold_occupied, int threshold_free) + : mapname_(mapname), saved_map_(false), threshold_occupied_(threshold_occupied), threshold_free_(threshold_free) + { + ros::NodeHandle n; + ROS_INFO("Waiting for the map"); + map_sub_ = n.subscribe("map", 1, &MapGenerator::mapCallback, this); + } + + void mapCallback(const nav_msgs::OccupancyGridConstPtr& map) + { + ROS_INFO("Received a %d X %d map @ %.3f m/pix", + map->info.width, + map->info.height, + map->info.resolution); + + + std::string mapdatafile = mapname_ + ".pgm"; + ROS_INFO("Writing map occupancy data to %s", mapdatafile.c_str()); + FILE* out = fopen(mapdatafile.c_str(), "w"); + if (!out) + { + ROS_ERROR("Couldn't save map file to %s", mapdatafile.c_str()); + return; + } + + fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n", + map->info.resolution, map->info.width, map->info.height); + for(unsigned int y = 0; y < map->info.height; y++) { + for(unsigned int x = 0; x < map->info.width; x++) { + unsigned int i = x + (map->info.height - y - 1) * map->info.width; + if (map->data[i] >= 0 && map->data[i] <= threshold_free_) { // [0,free) + fputc(254, out); + } else if (map->data[i] >= threshold_occupied_) { // (occ,255] + fputc(000, out); + } else { //occ [0.25,0.65] + fputc(205, out); + } + } + } + + fclose(out); + + + std::string mapmetadatafile = mapname_ + ".yaml"; + ROS_INFO("Writing map occupancy data to %s", mapmetadatafile.c_str()); + FILE* yaml = fopen(mapmetadatafile.c_str(), "w"); + + + /* +resolution: 0.100000 +origin: [0.000000, 0.000000, 0.000000] +# +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + + */ + + geometry_msgs::Quaternion orientation = map->info.origin.orientation; + tf2::Matrix3x3 mat(tf2::Quaternion( + orientation.x, + orientation.y, + orientation.z, + orientation.w + )); + double yaw, pitch, roll; + mat.getEulerYPR(yaw, pitch, roll); + + fprintf(yaml, "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n", + mapdatafile.c_str(), map->info.resolution, map->info.origin.position.x, map->info.origin.position.y, yaw); + + fclose(yaml); + + ROS_INFO("Done\n"); + saved_map_ = true; + } + + std::string mapname_; + ros::Subscriber map_sub_; + bool saved_map_; + int threshold_occupied_; + int threshold_free_; + +}; + +#define USAGE "Usage: \n" \ + " map_saver -h\n"\ + " map_saver [--occ ] [--free ] [-f ] [ROS remapping args]" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "map_saver"); + std::string mapname = "map"; + int threshold_occupied = 65; + int threshold_free = 25; + + for(int i=1; i 100) + { + ROS_ERROR("threshold_occupied must be between 1 and 100"); + return 1; + } + + } + else + { + puts(USAGE); + return 1; + } + } + else if (!strcmp(argv[i], "--free")) + { + if (++i < argc) + { + threshold_free = std::atoi(argv[i]); + if (threshold_free < 0 || threshold_free > 100) + { + ROS_ERROR("threshold_free must be between 0 and 100"); + return 1; + } + + } + else + { + puts(USAGE); + return 1; + } + } + else + { + puts(USAGE); + return 1; + } + } + + if (threshold_occupied <= threshold_free) + { + ROS_ERROR("threshold_free must be smaller than threshold_occupied"); + return 1; + } + + MapGenerator mg(mapname, threshold_occupied, threshold_free); + + while(!mg.saved_map_ && ros::ok()) + ros::spinOnce(); + + return 0; +} + + diff --git a/src/navigation/map_server/src/map_server.dox b/src/navigation/map_server/src/map_server.dox new file mode 100644 index 0000000..1e5b237 --- /dev/null +++ b/src/navigation/map_server/src/map_server.dox @@ -0,0 +1,9 @@ +/** + +@mainpage + +@htmlinclude manifest.html + +Command-line usage is in the wiki. +*/ + diff --git a/src/navigation/map_server/test/consumer.py b/src/navigation/map_server/test/consumer.py new file mode 100755 index 0000000..6ff7e78 --- /dev/null +++ b/src/navigation/map_server/test/consumer.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python +# Software License Agreement (BSD License) +# +# Copyright (c) 2008, Willow Garage, Inc. +# 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 Willow Garage 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 OWNER 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. +# + +from __future__ import print_function + +PKG = 'static_map_server' +NAME = 'consumer' + +import sys +import unittest +import time + +import rospy +import rostest +from nav_msgs.srv import GetMap + + +class TestConsumer(unittest.TestCase): + def __init__(self, *args): + super(TestConsumer, self).__init__(*args) + self.success = False + + def callback(self, data): + print(rospy.get_caller_id(), "I heard %s" % data.data) + self.success = data.data and data.data.startswith('hello world') + rospy.signal_shutdown('test done') + + def test_consumer(self): + rospy.wait_for_service('static_map') + mapsrv = rospy.ServiceProxy('static_map', GetMap) + resp = mapsrv() + self.success = True + print(resp) + while not rospy.is_shutdown() and not self.success: # and time.time() < timeout_t: <== timeout_t doesn't exists?? + time.sleep(0.1) + self.assert_(self.success) + rospy.signal_shutdown('test done') + +if __name__ == '__main__': + rostest.rosrun(PKG, NAME, TestConsumer, sys.argv) diff --git a/src/navigation/map_server/test/rtest.cpp b/src/navigation/map_server/test/rtest.cpp new file mode 100644 index 0000000..5178952 --- /dev/null +++ b/src/navigation/map_server/test/rtest.cpp @@ -0,0 +1,198 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* Author: Brian Gerkey */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "test_constants.h" + +int g_argc; +char** g_argv; + +class MapClientTest : public testing::Test +{ + public: + // A node is needed to make a service call + ros::NodeHandle* n_; + + MapClientTest() + { + ros::init(g_argc, g_argv, "map_client_test"); + n_ = new ros::NodeHandle(); + got_map_ = false; + got_map_metadata_ = false; + } + + ~MapClientTest() + { + delete n_; + } + + bool got_map_; + boost::shared_ptr map_; + void mapCallback(const boost::shared_ptr& map) + { + map_ = map; + got_map_ = true; + } + + bool got_map_metadata_; + boost::shared_ptr map_metadata_; + void mapMetaDataCallback(const boost::shared_ptr& map_metadata) + { + map_metadata_ = map_metadata; + got_map_metadata_ = true; + } +}; + +/* Try to retrieve the map via service, and compare to ground truth */ +TEST_F(MapClientTest, call_service) +{ + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ASSERT_TRUE(ros::service::waitForService("static_map", 5000)); + ASSERT_TRUE(ros::service::call("static_map", req, resp)); + ASSERT_FLOAT_EQ(resp.map.info.resolution, g_valid_image_res); + ASSERT_EQ(resp.map.info.width, g_valid_image_width); + ASSERT_EQ(resp.map.info.height, g_valid_image_height); + ASSERT_STREQ(resp.map.header.frame_id.c_str(), "map"); + for(unsigned int i=0; i < resp.map.info.width * resp.map.info.height; i++) + ASSERT_EQ(g_valid_image_content[i], resp.map.data[i]); +} + +/* Try to retrieve the map via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic) +{ + ros::Subscriber sub = n_->subscribe("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1)); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_ && i > 0) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_); + ASSERT_FLOAT_EQ(map_->info.resolution, g_valid_image_res); + ASSERT_EQ(map_->info.width, g_valid_image_width); + ASSERT_EQ(map_->info.height, g_valid_image_height); + ASSERT_STREQ(map_->header.frame_id.c_str(), "map"); + for(unsigned int i=0; i < map_->info.width * map_->info.height; i++) + ASSERT_EQ(g_valid_image_content[i], map_->data[i]); +} + +/* Try to retrieve the metadata via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic_metadata) +{ + ros::Subscriber sub = n_->subscribe("map_metadata", 1, boost::bind(&MapClientTest::mapMetaDataCallback, this, _1)); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_metadata_ && i > 0) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_metadata_); + ASSERT_FLOAT_EQ(map_metadata_->resolution, g_valid_image_res); + ASSERT_EQ(map_metadata_->width, g_valid_image_width); + ASSERT_EQ(map_metadata_->height, g_valid_image_height); +} + +/* Change the map, retrieve the map via topic, and compare to ground truth */ +TEST_F(MapClientTest, change_map) +{ + ros::Subscriber sub = n_->subscribe("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1)); + + // Try a few times, because the server may not be up yet. + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + ASSERT_TRUE(got_map_); + + // Now change the map + got_map_ = false; + nav_msgs::LoadMap::Request req; + nav_msgs::LoadMap::Response resp; + req.map_url = ros::package::getPath("map_server") + "/test/testmap2.yaml"; + ASSERT_TRUE(ros::service::waitForService("change_map", 5000)); + ASSERT_TRUE(ros::service::call("change_map", req, resp)); + ASSERT_EQ(0u, resp.result); + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + + ASSERT_FLOAT_EQ(tmap2::g_valid_image_res, map_->info.resolution); + ASSERT_EQ(tmap2::g_valid_image_width, map_->info.width); + ASSERT_EQ(tmap2::g_valid_image_height, map_->info.height); + ASSERT_STREQ("map", map_->header.frame_id.c_str()); + for(unsigned int i=0; i < map_->info.width * map_->info.height; i++) + ASSERT_EQ(tmap2::g_valid_image_content[i], map_->data[i]) << "idx:" << i; + + //Put the old map back so the next test isn't broken + got_map_ = false; + req.map_url = ros::package::getPath("map_server") + "/test/testmap.yaml"; + ASSERT_TRUE(ros::service::call("change_map", req, resp)); + ASSERT_EQ(0u, resp.result); + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + ASSERT_TRUE(got_map_); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + g_argc = argc; + g_argv = argv; + + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/map_server/test/rtest.xml b/src/navigation/map_server/test/rtest.xml new file mode 100644 index 0000000..5ac5721 --- /dev/null +++ b/src/navigation/map_server/test/rtest.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/navigation/map_server/test/spectrum.png b/src/navigation/map_server/test/spectrum.png new file mode 100644 index 0000000..5e144eb --- /dev/null +++ b/src/navigation/map_server/test/spectrum.png Binary files differ diff --git a/src/navigation/map_server/test/test_constants.cpp b/src/navigation/map_server/test/test_constants.cpp new file mode 100644 index 0000000..4521521 --- /dev/null +++ b/src/navigation/map_server/test/test_constants.cpp @@ -0,0 +1,84 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* Author: Brian Gerkey */ + +/* This file contains global constants shared among tests */ + +/* Note that these must be changed if the test image changes */ + +#include "test_constants.h" + +const unsigned int g_valid_image_width = 10; +const unsigned int g_valid_image_height = 10; +// Note that the image content is given in row-major order, with the +// lower-left pixel first. This is different from a graphics coordinate +// system, which starts with the upper-left pixel. The loadMapFromFile +// call converts from the latter to the former when it loads the image, and +// we want to compare against the result of that conversion. +const char g_valid_image_content[] = { +0,0,0,0,0,0,0,0,0,0, +100,100,100,100,0,0,100,100,100,0, +100,100,100,100,0,0,100,100,100,0, +100,0,0,0,0,0,0,0,0,0, +100,0,0,0,0,0,0,0,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,0,0,0,0, +}; + +const char* g_valid_png_file = "test/testmap.png"; +const char* g_valid_bmp_file = "test/testmap.bmp"; +const char* g_spectrum_png_file = "test/spectrum.png"; + +const float g_valid_image_res = 0.1; + +// Constants for testmap2 +namespace tmap2 +{ + const char g_valid_image_content[] = { + 100,100,100,100,100,100,100,100,100,100,100,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,100,100,100,100,100,100,100,100,0,100, + 100,0,100,0,0,0,0,0,0,100,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,100,0,0,0,0,0,0,100,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,100,100,100,100,100,100,100,100,100,100,100, + }; + const float g_valid_image_res = 0.1; + const unsigned int g_valid_image_width = 12; + const unsigned int g_valid_image_height = 12; +} diff --git a/src/navigation/map_server/test/test_constants.h b/src/navigation/map_server/test/test_constants.h new file mode 100644 index 0000000..c23a578 --- /dev/null +++ b/src/navigation/map_server/test/test_constants.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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 MAP_SERVER_TEST_CONSTANTS_H +#define MAP_SERVER_TEST_CONSTANTS_H + +/* Author: Brian Gerkey */ + +/* This file externs global constants shared among tests */ + +extern const unsigned int g_valid_image_width; +extern const unsigned int g_valid_image_height; +extern const char g_valid_image_content[]; +extern const char* g_valid_png_file; +extern const char* g_valid_bmp_file; +extern const float g_valid_image_res; +extern const char* g_spectrum_png_file; + +namespace tmap2 { + extern const char g_valid_image_content[]; + extern const float g_valid_image_res; + extern const unsigned int g_valid_image_width; + extern const unsigned int g_valid_image_height; +} + +#endif diff --git a/src/navigation/map_server/test/testmap.bmp b/src/navigation/map_server/test/testmap.bmp new file mode 100644 index 0000000..dc8b114 --- /dev/null +++ b/src/navigation/map_server/test/testmap.bmp Binary files differ diff --git a/src/navigation/map_server/test/testmap.png b/src/navigation/map_server/test/testmap.png new file mode 100644 index 0000000..910c5c3 --- /dev/null +++ b/src/navigation/map_server/test/testmap.png Binary files differ diff --git a/src/navigation/map_server/test/testmap.yaml b/src/navigation/map_server/test/testmap.yaml new file mode 100644 index 0000000..8cf0d73 --- /dev/null +++ b/src/navigation/map_server/test/testmap.yaml @@ -0,0 +1,6 @@ +image: testmap.png +resolution: 0.1 +origin: [2.0, 3.0, 1.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/navigation/map_server/test/testmap2.png b/src/navigation/map_server/test/testmap2.png new file mode 100644 index 0000000..8ca9106 --- /dev/null +++ b/src/navigation/map_server/test/testmap2.png Binary files differ diff --git a/src/navigation/map_server/test/testmap2.yaml b/src/navigation/map_server/test/testmap2.yaml new file mode 100644 index 0000000..150a04a --- /dev/null +++ b/src/navigation/map_server/test/testmap2.yaml @@ -0,0 +1,6 @@ +image: testmap2.png +resolution: 0.1 +origin: [-2.0, -3.0, -1.0] +negate: 1 +occupied_thresh: 0.5 +free_thresh: 0.2 diff --git a/src/navigation/map_server/test/utest.cpp b/src/navigation/map_server/test/utest.cpp new file mode 100644 index 0000000..62c4b68 --- /dev/null +++ b/src/navigation/map_server/test/utest.cpp @@ -0,0 +1,149 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* Author: Brian Gerkey */ + +#include // for std::runtime_error +#include +#include "map_server/image_loader.h" +#include "test_constants.h" + +/* Try to load a valid PNG file. Succeeds if no exception is thrown, and if + * the loaded image matches the known dimensions and content of the file. + * + * This test can fail on OS X, due to an apparent limitation of the + * underlying SDL_Image library. */ +TEST(MapServer, loadValidPNG) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, g_valid_png_file, g_valid_image_res, false, 0.65, 0.1, origin); + EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res); + EXPECT_EQ(map_resp.map.info.width, g_valid_image_width); + EXPECT_EQ(map_resp.map.info.height, g_valid_image_height); + for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++) + EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]); + } + catch(...) + { + ADD_FAILURE() << "Uncaught exception : " << "This is OK on OS X"; + } +} + +/* Try to load a valid BMP file. Succeeds if no exception is thrown, and if + * the loaded image matches the known dimensions and content of the file. */ +TEST(MapServer, loadValidBMP) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, g_valid_bmp_file, g_valid_image_res, false, 0.65, 0.1, origin); + EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res); + EXPECT_EQ(map_resp.map.info.width, g_valid_image_width); + EXPECT_EQ(map_resp.map.info.height, g_valid_image_height); + for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++) + EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]); + } + catch(...) + { + ADD_FAILURE() << "Uncaught exception"; + } +} + +/* Try to load an invalid file. Succeeds if a std::runtime_error exception + * is thrown. */ +TEST(MapServer, loadInvalidFile) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, "foo", 0.1, false, 0.65, 0.1, origin); + } + catch(std::runtime_error &e) + { + SUCCEED(); + return; + } + catch(...) + { + FAIL() << "Uncaught exception"; + } + ADD_FAILURE() << "Didn't throw exception as expected"; +} + +std::vector countValues(const nav_msgs::GetMap::Response& map_resp) +{ + std::vector counts(256, 0); + for (unsigned int i = 0; i < map_resp.map.data.size(); i++) + { + unsigned char value = static_cast(map_resp.map.data[i]); + counts[value]++; + } + return counts; +} + +TEST(MapServer, testMapMode) +{ + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, TRINARY); + std::vector trinary_counts = countValues(map_resp); + EXPECT_EQ(90u, trinary_counts[100]); + EXPECT_EQ(26u, trinary_counts[0]); + EXPECT_EQ(140u, trinary_counts[255]); + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, SCALE); + std::vector scale_counts = countValues(map_resp); + EXPECT_EQ(90u, scale_counts[100]); + EXPECT_EQ(26u, scale_counts[0]); + unsigned int scaled_values = 0; + for (unsigned int i = 1; i < 100; i++) + { + scaled_values += scale_counts[i]; + } + EXPECT_EQ(140u, scaled_values); + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, RAW); + std::vector raw_counts = countValues(map_resp); + for (unsigned int i = 0; i < raw_counts.size(); i++) + { + EXPECT_EQ(1u, raw_counts[i]) << i; + } +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/move_base/CHANGELOG.rst b/src/navigation/move_base/CHANGELOG.rst new file mode 100644 index 0000000..f8e0ebd --- /dev/null +++ b/src/navigation/move_base/CHANGELOG.rst @@ -0,0 +1,185 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_base +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* Check if stamp of transformed pose is non-zero (`#1200 `_) +* Create move_base catkin library (`#1116 `_) + Co-authored-by: vkotaru +* move_base crash when using default recovery behaviors (`#1071 `_) +* Publish recovery behavior melodic (`#1051 `_) (`#1052 `_) + * First prototype of publishing recovery status + custom message tells you where the behavior occured, the name, index, + and total number of behaviors. + * fix message field typos + Co-authored-by: Peter Mitrano + Co-authored-by: Peter Mitrano +* Contributors: David V. Lu!!, Prasanth Kotaru, Yuki Furuta, mattp256 + +1.17.1 (2020-08-27) +------------------- +* Fix `#933 `_ (`#988 `_) +* Contributors: David V. Lu!! + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* move_base: Add options for make_plan service (`#981 `_) + Adds the following two parameters for the ~make_plan service: + 1. make_plan_clear_costmap + Whether or not to clear the global costmap on make_plan service call. + 2. make_plan_add_unreachable_goal + Whether or not to add the original goal to the path if it is unreachable in the make_plan service call. +* Contributors: Michael Ferguson, nxdefiant + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Added publishZeroVelocity() before starting planner (`#751 `_) + Edit for Issue `#750 `_ +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Contributors: David V. Lu, Michael Ferguson, SUNIL SULANIA, Steven Macenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Merge pull request `#723 `_ from moriarty/melodic-buildfarm-errors + Melodic buildfarm errors +* Merge pull request `#719 `_ from ros-planning/lunar_711 + adding mutex locks to costmap clearing service +* Contributors: Alexander Moriarty, Michael Ferguson, Vincent Rabaud, stevemacenski + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* Add a max_planning_retries parameter to move_base [kinetic] (`#539 `_) +* Fix for `#517 `_: create a getRobotPose method on move_base instead of using that on the costmaps +* Fixed deadlock when changing global planner +* rebase fixups +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Added deps to amcl costmap_2d move_base (`#512 `_) +* Fix CMake warnings +* move_base: Add move_base_msgs to find_package. +* Contributors: Jorge Santos, Jorge Santos Simón, Maarten de Vries, Martin Günther, Mikael Arguedas, Vincent Rabaud, mryellow, ne0 + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Removes installation of nonexistent directories +* use correct size for clearing window +* full name has been required for eons, this code just adds unneeded complexity +* remove ancient conversion scripts from v0.2 to v0.3 +* proper locking during costmap update +* Contributors: Michael Ferguson, Thiago de Freitas Oliveira Araujo + +1.13.0 (2015-03-17) +------------------- +* Fixing various memory freeing operations +* Contributors: Alex Bencz + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Disable global planner when resetting state. +* Mark move_base headers for installation +* Add ARCHIVE DESTINATION for move_base +* Break infinite loop when tolerance 0 is used +* remove partial usage of in the code +* Contributors: Gary Servin, Michael Ferguson, ohendriks, v4hn + +1.11.14 (2014-12-05) +-------------------- +* use timer rather than rate for immediate wakeup +* adding lock to planner makePlan fail case +* Contributors: Michael Ferguson, phil0stine + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* removes trailing spaces and empty lines +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* move_base planService now searches out from desired goal +* Contributors: David Lu!!, Kaijen Hsiao + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Fix classloader warnings on exit of move_base +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Reintroduce ClearCostmaps Service +* Add dependencies to recovery behaviors. diff --git a/src/navigation/move_base/CMakeLists.txt b/src/navigation/move_base/CMakeLists.txt new file mode 100644 index 0000000..5536ae8 --- /dev/null +++ b/src/navigation/move_base/CMakeLists.txt @@ -0,0 +1,87 @@ +cmake_minimum_required(VERSION 3.0.2) +project(move_base) + +find_package(catkin REQUIRED + COMPONENTS + actionlib + base_local_planner + clear_costmap_recovery + cmake_modules + costmap_2d + dynamic_reconfigure + geometry_msgs + message_generation + move_base_msgs + nav_core + nav_msgs + navfn + pluginlib + roscpp + rospy + rotate_recovery + std_srvs + tf2_geometry_msgs + tf2_ros +) +find_package(Eigen3 REQUIRED) +add_definitions(${EIGEN3_DEFINITIONS}) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/MoveBase.cfg +) + +catkin_package( + + INCLUDE_DIRS + include + ${EIGEN3_INCLUDE_DIRS} + LIBRARIES move_base + CATKIN_DEPENDS + dynamic_reconfigure + geometry_msgs + move_base_msgs + nav_msgs + roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +# move_base +add_library(move_base + src/move_base.cpp +) +target_link_libraries(move_base + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ) +add_dependencies(move_base ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_executable(move_base_node + src/move_base_node.cpp +) +add_dependencies(move_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(move_base_node move_base) +set_target_properties(move_base_node PROPERTIES OUTPUT_NAME move_base) + +install( + TARGETS + move_base_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + TARGETS + move_base + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) diff --git a/src/navigation/move_base/cfg/MoveBase.cfg b/src/navigation/move_base/cfg/MoveBase.cfg new file mode 100755 index 0000000..9eef29b --- /dev/null +++ b/src/navigation/move_base/cfg/MoveBase.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +PACKAGE = 'move_base' + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t + +gen = ParameterGenerator() + +gen.add("base_global_planner", str_t, 0, "The name of the plugin for the global planner to use with move_base.", "navfn/NavfnROS") +gen.add("base_local_planner", str_t, 0, "The name of the plugin for the local planner to use with move_base.", "base_local_planner/TrajectoryPlannerROS") + +#gen.add("recovery_behaviors", str_t, 0, "A list of recovery behavior plugins to use with move_base.", "[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]") + +gen.add("planner_frequency", double_t, 0, "The rate in Hz at which to run the planning loop.", 0, 0, 100) +gen.add("controller_frequency", double_t, 0, "The rate in Hz at which to run the control loop and send velocity commands to the base.", 20, 0, 100) +gen.add("planner_patience", double_t, 0, "How long the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.", 5.0, 0, 100) +gen.add("controller_patience", double_t, 0, "How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed.", 5.0, 0, 100) +gen.add("max_planning_retries", int_t, 0, "How many times we will recall the planner in an attempt to find a valid plan before space-clearing operations are performed", -1, -1, 1000) +gen.add("conservative_reset_dist", double_t, 0, "The distance away from the robot in meters at which obstacles will be cleared from the costmap when attempting to clear space in the map.", 3, 0, 50) + +gen.add("recovery_behavior_enabled", bool_t, 0, "Whether or not to enable the move_base recovery behaviors to attempt to clear out space.", True) +# Doesnt exist +gen.add("clearing_rotation_allowed", bool_t, 0, "Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space.", True) +gen.add("shutdown_costmaps", bool_t, 0, "Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state", False) + +gen.add("oscillation_timeout", double_t, 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", 0.0, 0, 60) +gen.add("oscillation_distance", double_t, 0, "How far in meters the robot must move to be considered not to be oscillating.", 0.5, 0, 10) + +gen.add("make_plan_clear_costmap", bool_t, 0, "Whether or not to clear the global costmap on make_plan service call.", True) +gen.add("make_plan_add_unreachable_goal", bool_t, 0, "Whether or not to add the original goal to the path if it is unreachable in the make_plan service call.", True) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False) +exit(gen.generate(PACKAGE, "move_base_node", "MoveBase")) diff --git a/src/navigation/move_base/include/move_base/move_base.h b/src/navigation/move_base/include/move_base/move_base.h new file mode 100644 index 0000000..335cb95 --- /dev/null +++ b/src/navigation/move_base/include/move_base/move_base.h @@ -0,0 +1,238 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_MOVE_BASE_ACTION_H_ +#define NAV_MOVE_BASE_ACTION_H_ + +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include "move_base/MoveBaseConfig.h" + +namespace move_base { + //typedefs to help us out with the action server so that we don't hace to type so much + typedef actionlib::SimpleActionServer MoveBaseActionServer; + + enum MoveBaseState { + PLANNING, + CONTROLLING, + CLEARING + }; + + enum RecoveryTrigger + { + PLANNING_R, + CONTROLLING_R, + OSCILLATION_R + }; + + /** + * @class MoveBase + * @brief A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. + */ + class MoveBase { + public: + /** + * @brief Constructor for the actions + * @param name The name of the action + * @param tf A reference to a TransformListener + */ + MoveBase(tf2_ros::Buffer& tf); + + /** + * @brief Destructor - Cleans up + */ + virtual ~MoveBase(); + + /** + * @brief Performs a control cycle + * @param goal A reference to the goal to pursue + * @return True if processing of the goal is done, false otherwise + */ + bool executeCycle(geometry_msgs::PoseStamped& goal); + + private: + /** + * @brief A service call that clears the costmaps of obstacles + * @param req The service request + * @param resp The service response + * @return True if the service call succeeds, false otherwise + */ + bool clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp); + + /** + * @brief A service call that can be made when the action is inactive that will return a plan + * @param req The goal request + * @param resp The plan request + * @return True if planning succeeded, false otherwise + */ + bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp); + + /** + * @brief Make a new global plan + * @param goal The goal to plan to + * @param plan Will be filled in with the plan made by the planner + * @return True if planning succeeds, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& goal, std::vector& plan); + + /** + * @brief Load the recovery behaviors for the navigation stack from the parameter server + * @param node The ros::NodeHandle to be used for loading parameters + * @return True if the recovery behaviors were loaded successfully, false otherwise + */ + bool loadRecoveryBehaviors(ros::NodeHandle node); + + /** + * @brief Loads the default recovery behaviors for the navigation stack + */ + void loadDefaultRecoveryBehaviors(); + + /** + * @brief Clears obstacles within a window around the robot + * @param size_x The x size of the window + * @param size_y The y size of the window + */ + void clearCostmapWindows(double size_x, double size_y); + + /** + * @brief Publishes a velocity command of zero to the base + */ + void publishZeroVelocity(); + + /** + * @brief Reset the state of the move_base action and send a zero velocity command to the base + */ + void resetState(); + + void goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal); + + void planThread(); + + void executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal); + + bool isQuaternionValid(const geometry_msgs::Quaternion& q); + + bool getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap); + + double distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2); + + geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg); + + /** + * @brief This is used to wake the planner at periodic intervals. + */ + void wakePlanner(const ros::TimerEvent& event); + + tf2_ros::Buffer& tf_; + + MoveBaseActionServer* as_; + + boost::shared_ptr tc_; + costmap_2d::Costmap2DROS* planner_costmap_ros_, *controller_costmap_ros_; + + boost::shared_ptr planner_; + std::string robot_base_frame_, global_frame_; + + std::vector > recovery_behaviors_; + std::vector recovery_behavior_names_; + unsigned int recovery_index_; + + geometry_msgs::PoseStamped global_pose_; + double planner_frequency_, controller_frequency_, inscribed_radius_, circumscribed_radius_; + double planner_patience_, controller_patience_; + int32_t max_planning_retries_; + uint32_t planning_retries_; + double conservative_reset_dist_, clearing_radius_; + ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_, recovery_status_pub_; + ros::Subscriber goal_sub_; + ros::ServiceServer make_plan_srv_, clear_costmaps_srv_; + bool shutdown_costmaps_, clearing_rotation_allowed_, recovery_behavior_enabled_; + bool make_plan_clear_costmap_, make_plan_add_unreachable_goal_; + double oscillation_timeout_, oscillation_distance_; + + MoveBaseState state_; + RecoveryTrigger recovery_trigger_; + + ros::Time last_valid_plan_, last_valid_control_, last_oscillation_reset_; + geometry_msgs::PoseStamped oscillation_pose_; + pluginlib::ClassLoader bgp_loader_; + pluginlib::ClassLoader blp_loader_; + pluginlib::ClassLoader recovery_loader_; + + //set up plan triple buffer + std::vector* planner_plan_; + std::vector* latest_plan_; + std::vector* controller_plan_; + + //set up the planner's thread + bool runPlanner_; + boost::recursive_mutex planner_mutex_; + boost::condition_variable_any planner_cond_; + geometry_msgs::PoseStamped planner_goal_; + boost::thread* planner_thread_; + + + boost::recursive_mutex configuration_mutex_; + dynamic_reconfigure::Server *dsrv_; + + void reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level); + + move_base::MoveBaseConfig last_config_; + move_base::MoveBaseConfig default_config_; + bool setup_, p_freq_change_, c_freq_change_; + bool new_global_plan_; + }; +}; +#endif + diff --git a/src/navigation/move_base/package.xml b/src/navigation/move_base/package.xml new file mode 100644 index 0000000..1e3d2e5 --- /dev/null +++ b/src/navigation/move_base/package.xml @@ -0,0 +1,47 @@ + + + + move_base + 1.17.2 + + + The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/move_base + + catkin + + cmake_modules + message_generation + tf2_geometry_msgs + + actionlib + costmap_2d + dynamic_reconfigure + geometry_msgs + move_base_msgs + nav_core + nav_msgs + pluginlib + roscpp + rospy + std_srvs + tf2_ros + visualization_msgs + + + base_local_planner + clear_costmap_recovery + navfn + rotate_recovery + + message_runtime + + diff --git a/src/navigation/move_base/planner_test.xml b/src/navigation/move_base/planner_test.xml new file mode 100644 index 0000000..655f243 --- /dev/null +++ b/src/navigation/move_base/planner_test.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/navigation/move_base/src/move_base.cpp b/src/navigation/move_base/src/move_base.cpp new file mode 100644 index 0000000..bd14df5 --- /dev/null +++ b/src/navigation/move_base/src/move_base.cpp @@ -0,0 +1,1208 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +* Mike Phillips (put the planner in its own thread) +*********************************************************************/ +#include +#include +#include + +#include +#include + +#include + +#include + +namespace move_base { + + MoveBase::MoveBase(tf2_ros::Buffer& tf) : + tf_(tf), + as_(NULL), + planner_costmap_ros_(NULL), controller_costmap_ros_(NULL), + bgp_loader_("nav_core", "nav_core::BaseGlobalPlanner"), + blp_loader_("nav_core", "nav_core::BaseLocalPlanner"), + recovery_loader_("nav_core", "nav_core::RecoveryBehavior"), + planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL), + runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) { + + as_ = new MoveBaseActionServer(ros::NodeHandle(), "move_base", boost::bind(&MoveBase::executeCb, this, _1), false); + + ros::NodeHandle private_nh("~"); + ros::NodeHandle nh; + + recovery_trigger_ = PLANNING_R; + + //get some parameters that will be global to the move base node + std::string global_planner, local_planner; + private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); + private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); + private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); + private_nh.param("global_costmap/global_frame", global_frame_, std::string("map")); + private_nh.param("planner_frequency", planner_frequency_, 0.0); + private_nh.param("controller_frequency", controller_frequency_, 20.0); + private_nh.param("planner_patience", planner_patience_, 5.0); + private_nh.param("controller_patience", controller_patience_, 15.0); + private_nh.param("max_planning_retries", max_planning_retries_, -1); // disabled by default + + private_nh.param("oscillation_timeout", oscillation_timeout_, 0.0); + private_nh.param("oscillation_distance", oscillation_distance_, 0.5); + + // parameters of make_plan service + private_nh.param("make_plan_clear_costmap", make_plan_clear_costmap_, true); + private_nh.param("make_plan_add_unreachable_goal", make_plan_add_unreachable_goal_, true); + + //set up plan triple buffer + planner_plan_ = new std::vector(); + latest_plan_ = new std::vector(); + controller_plan_ = new std::vector(); + + //set up the planner's thread + planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this)); + + //for commanding the base + vel_pub_ = nh.advertise("cmd_vel", 1); + current_goal_pub_ = private_nh.advertise("current_goal", 0 ); + + ros::NodeHandle action_nh("move_base"); + action_goal_pub_ = action_nh.advertise("goal", 1); + recovery_status_pub_= action_nh.advertise("recovery_status", 1); + + //we'll provide a mechanism for some people to send goals as PoseStamped messages over a topic + //they won't get any useful information back about its status, but this is useful for tools + //like nav_view and rviz + ros::NodeHandle simple_nh("move_base_simple"); + goal_sub_ = simple_nh.subscribe("goal", 1, boost::bind(&MoveBase::goalCB, this, _1)); + + //we'll assume the radius of the robot to be consistent with what's specified for the costmaps + private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325); + private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46); + private_nh.param("clearing_radius", clearing_radius_, circumscribed_radius_); + private_nh.param("conservative_reset_dist", conservative_reset_dist_, 3.0); + + private_nh.param("shutdown_costmaps", shutdown_costmaps_, false); + private_nh.param("clearing_rotation_allowed", clearing_rotation_allowed_, true); + private_nh.param("recovery_behavior_enabled", recovery_behavior_enabled_, true); + + //create the ros wrapper for the planner's costmap... and initializer a pointer we'll use with the underlying map + planner_costmap_ros_ = new costmap_2d::Costmap2DROS("global_costmap", tf_); + planner_costmap_ros_->pause(); + + //initialize the global planner + try { + planner_ = bgp_loader_.createInstance(global_planner); + planner_->initialize(bgp_loader_.getName(global_planner), planner_costmap_ros_); + } catch (const pluginlib::PluginlibException& ex) { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", global_planner.c_str(), ex.what()); + exit(1); + } + + //create the ros wrapper for the controller's costmap... and initializer a pointer we'll use with the underlying map + controller_costmap_ros_ = new costmap_2d::Costmap2DROS("local_costmap", tf_); + controller_costmap_ros_->pause(); + + //create a local planner + try { + tc_ = blp_loader_.createInstance(local_planner); + ROS_INFO("Created local_planner %s", local_planner.c_str()); + tc_->initialize(blp_loader_.getName(local_planner), &tf_, controller_costmap_ros_); + } catch (const pluginlib::PluginlibException& ex) { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", local_planner.c_str(), ex.what()); + exit(1); + } + + // Start actively updating costmaps based on sensor data + planner_costmap_ros_->start(); + controller_costmap_ros_->start(); + + //advertise a service for getting a plan + make_plan_srv_ = private_nh.advertiseService("make_plan", &MoveBase::planService, this); + + //advertise a service for clearing the costmaps + clear_costmaps_srv_ = private_nh.advertiseService("clear_costmaps", &MoveBase::clearCostmapsService, this); + + //if we shutdown our costmaps when we're deactivated... we'll do that now + if(shutdown_costmaps_){ + ROS_DEBUG_NAMED("move_base","Stopping costmaps initially"); + planner_costmap_ros_->stop(); + controller_costmap_ros_->stop(); + } + + //load any user specified recovery behaviors, and if that fails load the defaults + if(!loadRecoveryBehaviors(private_nh)){ + loadDefaultRecoveryBehaviors(); + } + + //initially, we'll need to make a plan + state_ = PLANNING; + + //we'll start executing recovery behaviors at the beginning of our list + recovery_index_ = 0; + + //we're all set up now so we can start the action server + as_->start(); + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~")); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&MoveBase::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + } + + void MoveBase::reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level){ + boost::recursive_mutex::scoped_lock l(configuration_mutex_); + + //The first time we're called, we just want to make sure we have the + //original configuration + if(!setup_) + { + last_config_ = config; + default_config_ = config; + setup_ = true; + return; + } + + if(config.restore_defaults) { + config = default_config_; + //if someone sets restore defaults on the parameter server, prevent looping + config.restore_defaults = false; + } + + if(planner_frequency_ != config.planner_frequency) + { + planner_frequency_ = config.planner_frequency; + p_freq_change_ = true; + } + + if(controller_frequency_ != config.controller_frequency) + { + controller_frequency_ = config.controller_frequency; + c_freq_change_ = true; + } + + planner_patience_ = config.planner_patience; + controller_patience_ = config.controller_patience; + max_planning_retries_ = config.max_planning_retries; + conservative_reset_dist_ = config.conservative_reset_dist; + + recovery_behavior_enabled_ = config.recovery_behavior_enabled; + clearing_rotation_allowed_ = config.clearing_rotation_allowed; + shutdown_costmaps_ = config.shutdown_costmaps; + + oscillation_timeout_ = config.oscillation_timeout; + oscillation_distance_ = config.oscillation_distance; + if(config.base_global_planner != last_config_.base_global_planner) { + boost::shared_ptr old_planner = planner_; + //initialize the global planner + ROS_INFO("Loading global planner %s", config.base_global_planner.c_str()); + try { + planner_ = bgp_loader_.createInstance(config.base_global_planner); + + // wait for the current planner to finish planning + boost::unique_lock lock(planner_mutex_); + + // Clean up before initializing the new planner + planner_plan_->clear(); + latest_plan_->clear(); + controller_plan_->clear(); + resetState(); + planner_->initialize(bgp_loader_.getName(config.base_global_planner), planner_costmap_ros_); + + lock.unlock(); + } catch (const pluginlib::PluginlibException& ex) { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \ + containing library is built? Exception: %s", config.base_global_planner.c_str(), ex.what()); + planner_ = old_planner; + config.base_global_planner = last_config_.base_global_planner; + } + } + + if(config.base_local_planner != last_config_.base_local_planner){ + boost::shared_ptr old_planner = tc_; + //create a local planner + try { + tc_ = blp_loader_.createInstance(config.base_local_planner); + // Clean up before initializing the new planner + planner_plan_->clear(); + latest_plan_->clear(); + controller_plan_->clear(); + resetState(); + tc_->initialize(blp_loader_.getName(config.base_local_planner), &tf_, controller_costmap_ros_); + } catch (const pluginlib::PluginlibException& ex) { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \ + containing library is built? Exception: %s", config.base_local_planner.c_str(), ex.what()); + tc_ = old_planner; + config.base_local_planner = last_config_.base_local_planner; + } + } + + make_plan_clear_costmap_ = config.make_plan_clear_costmap; + make_plan_add_unreachable_goal_ = config.make_plan_add_unreachable_goal; + + last_config_ = config; + } + + void MoveBase::goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal){ + ROS_DEBUG_NAMED("move_base","In ROS goal callback, wrapping the PoseStamped in the action message and re-sending to the server."); + move_base_msgs::MoveBaseActionGoal action_goal; + action_goal.header.stamp = ros::Time::now(); + action_goal.goal.target_pose = *goal; + + action_goal_pub_.publish(action_goal); + } + + void MoveBase::clearCostmapWindows(double size_x, double size_y){ + geometry_msgs::PoseStamped global_pose; + + //clear the planner's costmap + getRobotPose(global_pose, planner_costmap_ros_); + + std::vector clear_poly; + double x = global_pose.pose.position.x; + double y = global_pose.pose.position.y; + geometry_msgs::Point pt; + + pt.x = x - size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + pt.x = x - size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + planner_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE); + + //clear the controller's costmap + getRobotPose(global_pose, controller_costmap_ros_); + + clear_poly.clear(); + x = global_pose.pose.position.x; + y = global_pose.pose.position.y; + + pt.x = x - size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + pt.x = x - size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + controller_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE); + } + + bool MoveBase::clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp){ + //clear the costmaps + boost::unique_lock lock_controller(*(controller_costmap_ros_->getCostmap()->getMutex())); + controller_costmap_ros_->resetLayers(); + + boost::unique_lock lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex())); + planner_costmap_ros_->resetLayers(); + return true; + } + + + bool MoveBase::planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp){ + if(as_->isActive()){ + ROS_ERROR("move_base must be in an inactive state to make a plan for an external user"); + return false; + } + //make sure we have a costmap for our planner + if(planner_costmap_ros_ == NULL){ + ROS_ERROR("move_base cannot make a plan for you because it doesn't have a costmap"); + return false; + } + + geometry_msgs::PoseStamped start; + //if the user does not specify a start pose, identified by an empty frame id, then use the robot's pose + if(req.start.header.frame_id.empty()) + { + geometry_msgs::PoseStamped global_pose; + if(!getRobotPose(global_pose, planner_costmap_ros_)){ + ROS_ERROR("move_base cannot make a plan for you because it could not get the start pose of the robot"); + return false; + } + start = global_pose; + } + else + { + start = req.start; + } + + if (make_plan_clear_costmap_) { + //update the copy of the costmap the planner uses + clearCostmapWindows(2 * clearing_radius_, 2 * clearing_radius_); + } + + //first try to make a plan to the exact desired goal + std::vector global_plan; + if(!planner_->makePlan(start, req.goal, global_plan) || global_plan.empty()){ + ROS_DEBUG_NAMED("move_base","Failed to find a plan to exact goal of (%.2f, %.2f), searching for a feasible goal within tolerance", + req.goal.pose.position.x, req.goal.pose.position.y); + + //search outwards for a feasible goal within the specified tolerance + geometry_msgs::PoseStamped p; + p = req.goal; + bool found_legal = false; + float resolution = planner_costmap_ros_->getCostmap()->getResolution(); + float search_increment = resolution*3.0; + if(req.tolerance > 0.0 && req.tolerance < search_increment) search_increment = req.tolerance; + for(float max_offset = search_increment; max_offset <= req.tolerance && !found_legal; max_offset += search_increment) { + for(float y_offset = 0; y_offset <= max_offset && !found_legal; y_offset += search_increment) { + for(float x_offset = 0; x_offset <= max_offset && !found_legal; x_offset += search_increment) { + + //don't search again inside the current outer layer + if(x_offset < max_offset-1e-9 && y_offset < max_offset-1e-9) continue; + + //search to both sides of the desired goal + for(float y_mult = -1.0; y_mult <= 1.0 + 1e-9 && !found_legal; y_mult += 2.0) { + + //if one of the offsets is 0, -1*0 is still 0 (so get rid of one of the two) + if(y_offset < 1e-9 && y_mult < -1.0 + 1e-9) continue; + + for(float x_mult = -1.0; x_mult <= 1.0 + 1e-9 && !found_legal; x_mult += 2.0) { + if(x_offset < 1e-9 && x_mult < -1.0 + 1e-9) continue; + + p.pose.position.y = req.goal.pose.position.y + y_offset * y_mult; + p.pose.position.x = req.goal.pose.position.x + x_offset * x_mult; + + if(planner_->makePlan(start, p, global_plan)){ + if(!global_plan.empty()){ + + if (make_plan_add_unreachable_goal_) { + //adding the (unreachable) original goal to the end of the global plan, in case the local planner can get you there + //(the reachable goal should have been added by the global planner) + global_plan.push_back(req.goal); + } + + found_legal = true; + ROS_DEBUG_NAMED("move_base", "Found a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y); + break; + } + } + else{ + ROS_DEBUG_NAMED("move_base","Failed to find a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y); + } + } + } + } + } + } + } + + //copy the plan into a message to send out + resp.plan.poses.resize(global_plan.size()); + for(unsigned int i = 0; i < global_plan.size(); ++i){ + resp.plan.poses[i] = global_plan[i]; + } + + return true; + } + + MoveBase::~MoveBase(){ + recovery_behaviors_.clear(); + + delete dsrv_; + + if(as_ != NULL) + delete as_; + + if(planner_costmap_ros_ != NULL) + delete planner_costmap_ros_; + + if(controller_costmap_ros_ != NULL) + delete controller_costmap_ros_; + + planner_thread_->interrupt(); + planner_thread_->join(); + + delete planner_thread_; + + delete planner_plan_; + delete latest_plan_; + delete controller_plan_; + + planner_.reset(); + tc_.reset(); + } + + bool MoveBase::makePlan(const geometry_msgs::PoseStamped& goal, std::vector& plan){ + boost::unique_lock lock(*(planner_costmap_ros_->getCostmap()->getMutex())); + + //make sure to set the plan to be empty initially + plan.clear(); + + //since this gets called on handle activate + if(planner_costmap_ros_ == NULL) { + ROS_ERROR("Planner costmap ROS is NULL, unable to create global plan"); + return false; + } + + //get the starting pose of the robot + geometry_msgs::PoseStamped global_pose; + if(!getRobotPose(global_pose, planner_costmap_ros_)) { + ROS_WARN("Unable to get starting pose of robot, unable to create global plan"); + return false; + } + + const geometry_msgs::PoseStamped& start = global_pose; + + //if the planner fails or returns a zero length plan, planning failed + if(!planner_->makePlan(start, goal, plan) || plan.empty()){ + ROS_DEBUG_NAMED("move_base","Failed to find a plan to point (%.2f, %.2f)", goal.pose.position.x, goal.pose.position.y); + return false; + } + + return true; + } + + void MoveBase::publishZeroVelocity(){ + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + vel_pub_.publish(cmd_vel); + } + + bool MoveBase::isQuaternionValid(const geometry_msgs::Quaternion& q){ + //first we need to check if the quaternion has nan's or infs + if(!std::isfinite(q.x) || !std::isfinite(q.y) || !std::isfinite(q.z) || !std::isfinite(q.w)){ + ROS_ERROR("Quaternion has nans or infs... discarding as a navigation goal"); + return false; + } + + tf2::Quaternion tf_q(q.x, q.y, q.z, q.w); + + //next, we need to check if the length of the quaternion is close to zero + if(tf_q.length2() < 1e-6){ + ROS_ERROR("Quaternion has length close to zero... discarding as navigation goal"); + return false; + } + + //next, we'll normalize the quaternion and check that it transforms the vertical vector correctly + tf_q.normalize(); + + tf2::Vector3 up(0, 0, 1); + + double dot = up.dot(up.rotate(tf_q.getAxis(), tf_q.getAngle())); + + if(fabs(dot - 1) > 1e-3){ + ROS_ERROR("Quaternion is invalid... for navigation the z-axis of the quaternion must be close to vertical."); + return false; + } + + return true; + } + + geometry_msgs::PoseStamped MoveBase::goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg){ + std::string global_frame = planner_costmap_ros_->getGlobalFrameID(); + geometry_msgs::PoseStamped goal_pose, global_pose; + goal_pose = goal_pose_msg; + + //just get the latest available transform... for accuracy they should send + //goals in the frame of the planner + goal_pose.header.stamp = ros::Time(); + + try{ + tf_.transform(goal_pose_msg, global_pose, global_frame); + } + catch(tf2::TransformException& ex){ + ROS_WARN("Failed to transform the goal pose from %s into the %s frame: %s", + goal_pose.header.frame_id.c_str(), global_frame.c_str(), ex.what()); + return goal_pose_msg; + } + + return global_pose; + } + + void MoveBase::wakePlanner(const ros::TimerEvent& event) + { + // we have slept long enough for rate + planner_cond_.notify_one(); + } + + void MoveBase::planThread(){ + ROS_DEBUG_NAMED("move_base_plan_thread","Starting planner thread..."); + ros::NodeHandle n; + ros::Timer timer; + bool wait_for_wake = false; + boost::unique_lock lock(planner_mutex_); + while(n.ok()){ + //check if we should run the planner (the mutex is locked) + while(wait_for_wake || !runPlanner_){ + //if we should not be running the planner then suspend this thread + ROS_DEBUG_NAMED("move_base_plan_thread","Planner thread is suspending"); + planner_cond_.wait(lock); + wait_for_wake = false; + } + ros::Time start_time = ros::Time::now(); + + //time to plan! get a copy of the goal and unlock the mutex + geometry_msgs::PoseStamped temp_goal = planner_goal_; + lock.unlock(); + ROS_DEBUG_NAMED("move_base_plan_thread","Planning..."); + + //run planner + planner_plan_->clear(); + bool gotPlan = n.ok() && makePlan(temp_goal, *planner_plan_); + + if(gotPlan){ + ROS_DEBUG_NAMED("move_base_plan_thread","Got Plan with %zu points!", planner_plan_->size()); + //pointer swap the plans under mutex (the controller will pull from latest_plan_) + std::vector* temp_plan = planner_plan_; + + lock.lock(); + planner_plan_ = latest_plan_; + latest_plan_ = temp_plan; + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + new_global_plan_ = true; + + ROS_DEBUG_NAMED("move_base_plan_thread","Generated a plan from the base_global_planner"); + + //make sure we only start the controller if we still haven't reached the goal + if(runPlanner_) + state_ = CONTROLLING; + if(planner_frequency_ <= 0) + runPlanner_ = false; + lock.unlock(); + } + //if we didn't get a plan and we are in the planning state (the robot isn't moving) + else if(state_==PLANNING){ + ROS_DEBUG_NAMED("move_base_plan_thread","No Plan..."); + ros::Time attempt_end = last_valid_plan_ + ros::Duration(planner_patience_); + + //check if we've tried to make a plan for over our time limit or our maximum number of retries + //issue #496: we stop planning when one of the conditions is true, but if max_planning_retries_ + //is negative (the default), it is just ignored and we have the same behavior as ever + lock.lock(); + planning_retries_++; + if(runPlanner_ && + (ros::Time::now() > attempt_end || planning_retries_ > uint32_t(max_planning_retries_))){ + //we'll move into our obstacle clearing mode + state_ = CLEARING; + runPlanner_ = false; // proper solution for issue #523 + publishZeroVelocity(); + recovery_trigger_ = PLANNING_R; + } + + lock.unlock(); + } + + //take the mutex for the next iteration + lock.lock(); + + //setup sleep interface if needed + if(planner_frequency_ > 0){ + ros::Duration sleep_time = (start_time + ros::Duration(1.0/planner_frequency_)) - ros::Time::now(); + if (sleep_time > ros::Duration(0.0)){ + wait_for_wake = true; + timer = n.createTimer(sleep_time, &MoveBase::wakePlanner, this); + } + } + } + } + + void MoveBase::executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal) + { + if(!isQuaternionValid(move_base_goal->target_pose.pose.orientation)){ + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion"); + return; + } + + geometry_msgs::PoseStamped goal = goalToGlobalFrame(move_base_goal->target_pose); + + publishZeroVelocity(); + //we have a goal so start the planner + boost::unique_lock lock(planner_mutex_); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + current_goal_pub_.publish(goal); + + ros::Rate r(controller_frequency_); + if(shutdown_costmaps_){ + ROS_DEBUG_NAMED("move_base","Starting up costmaps that were shut down previously"); + planner_costmap_ros_->start(); + controller_costmap_ros_->start(); + } + + //we want to make sure that we reset the last time we had a valid plan and control + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + + ros::NodeHandle n; + while(n.ok()) + { + if(c_freq_change_) + { + ROS_INFO("Setting controller frequency to %.2f", controller_frequency_); + r = ros::Rate(controller_frequency_); + c_freq_change_ = false; + } + + if(as_->isPreemptRequested()){ + if(as_->isNewGoalAvailable()){ + //if we're active and a new goal is available, we'll accept it, but we won't shut anything down + move_base_msgs::MoveBaseGoal new_goal = *as_->acceptNewGoal(); + + if(!isQuaternionValid(new_goal.target_pose.pose.orientation)){ + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion"); + return; + } + + goal = goalToGlobalFrame(new_goal.target_pose); + + //we'll make sure that we reset our state for the next execution cycle + recovery_index_ = 0; + state_ = PLANNING; + + //we have a new goal so make sure the planner is awake + lock.lock(); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + //publish the goal point to the visualizer + ROS_DEBUG_NAMED("move_base","move_base has received a goal of x: %.2f, y: %.2f", goal.pose.position.x, goal.pose.position.y); + current_goal_pub_.publish(goal); + + //make sure to reset our timeouts and counters + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + } + else { + //if we've been preempted explicitly we need to shut things down + resetState(); + + //notify the ActionServer that we've successfully preempted + ROS_DEBUG_NAMED("move_base","Move base preempting the current goal"); + as_->setPreempted(); + + //we'll actually return from execute after preempting + return; + } + } + + //we also want to check if we've changed global frames because we need to transform our goal pose + if(goal.header.frame_id != planner_costmap_ros_->getGlobalFrameID()){ + goal = goalToGlobalFrame(goal); + + //we want to go back to the planning state for the next execution cycle + recovery_index_ = 0; + state_ = PLANNING; + + //we have a new goal so make sure the planner is awake + lock.lock(); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + //publish the goal point to the visualizer + ROS_DEBUG_NAMED("move_base","The global frame for move_base has changed, new frame: %s, new goal position x: %.2f, y: %.2f", goal.header.frame_id.c_str(), goal.pose.position.x, goal.pose.position.y); + current_goal_pub_.publish(goal); + + //make sure to reset our timeouts and counters + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + } + + //for timing that gives real time even in simulation + ros::WallTime start = ros::WallTime::now(); + + //the real work on pursuing a goal is done here + bool done = executeCycle(goal); + + //if we're done, then we'll return from execute + if(done) + return; + + //check if execution of the goal has completed in some way + + ros::WallDuration t_diff = ros::WallTime::now() - start; + ROS_DEBUG_NAMED("move_base","Full control cycle time: %.9f\n", t_diff.toSec()); + + r.sleep(); + //make sure to sleep for the remainder of our cycle time + if(r.cycleTime() > ros::Duration(1 / controller_frequency_) && state_ == CONTROLLING) + ROS_WARN("Control loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", controller_frequency_, r.cycleTime().toSec()); + } + + //wake up the planner thread so that it can exit cleanly + lock.lock(); + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + //if the node is killed then we'll abort and return + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on the goal because the node has been killed"); + return; + } + + double MoveBase::distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2) + { + return hypot(p1.pose.position.x - p2.pose.position.x, p1.pose.position.y - p2.pose.position.y); + } + + bool MoveBase::executeCycle(geometry_msgs::PoseStamped& goal){ + boost::recursive_mutex::scoped_lock ecl(configuration_mutex_); + //we need to be able to publish velocity commands + geometry_msgs::Twist cmd_vel; + + //update feedback to correspond to our curent position + geometry_msgs::PoseStamped global_pose; + getRobotPose(global_pose, planner_costmap_ros_); + const geometry_msgs::PoseStamped& current_position = global_pose; + + //push the feedback out + move_base_msgs::MoveBaseFeedback feedback; + feedback.base_position = current_position; + as_->publishFeedback(feedback); + + //check to see if we've moved far enough to reset our oscillation timeout + if(distance(current_position, oscillation_pose_) >= oscillation_distance_) + { + last_oscillation_reset_ = ros::Time::now(); + oscillation_pose_ = current_position; + + //if our last recovery was caused by oscillation, we want to reset the recovery index + if(recovery_trigger_ == OSCILLATION_R) + recovery_index_ = 0; + } + + //check that the observation buffers for the costmap are current, we don't want to drive blind + if(!controller_costmap_ros_->isCurrent()){ + ROS_WARN("[%s]:Sensor data is out of date, we're not going to allow commanding of the base for safety",ros::this_node::getName().c_str()); + publishZeroVelocity(); + return false; + } + + //if we have a new plan then grab it and give it to the controller + if(new_global_plan_){ + //make sure to set the new plan flag to false + new_global_plan_ = false; + + ROS_DEBUG_NAMED("move_base","Got a new plan...swap pointers"); + + //do a pointer swap under mutex + std::vector* temp_plan = controller_plan_; + + boost::unique_lock lock(planner_mutex_); + controller_plan_ = latest_plan_; + latest_plan_ = temp_plan; + lock.unlock(); + ROS_DEBUG_NAMED("move_base","pointers swapped!"); + + if(!tc_->setPlan(*controller_plan_)){ + //ABORT and SHUTDOWN COSTMAPS + ROS_ERROR("Failed to pass global plan to the controller, aborting."); + resetState(); + + //disable the planner thread + lock.lock(); + runPlanner_ = false; + lock.unlock(); + + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to pass global plan to the controller."); + return true; + } + + //make sure to reset recovery_index_ since we were able to find a valid plan + if(recovery_trigger_ == PLANNING_R) + recovery_index_ = 0; + } + + //the move_base state machine, handles the control logic for navigation + switch(state_){ + //if we are in a planning state, then we'll attempt to make a plan + case PLANNING: + { + boost::recursive_mutex::scoped_lock lock(planner_mutex_); + runPlanner_ = true; + planner_cond_.notify_one(); + } + ROS_DEBUG_NAMED("move_base","Waiting for plan, in the planning state."); + break; + + //if we're controlling, we'll attempt to find valid velocity commands + case CONTROLLING: + ROS_DEBUG_NAMED("move_base","In controlling state."); + + //check to see if we've reached our goal + if(tc_->isGoalReached()){ + ROS_DEBUG_NAMED("move_base","Goal reached!"); + resetState(); + + //disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + + as_->setSucceeded(move_base_msgs::MoveBaseResult(), "Goal reached."); + return true; + } + + //check for an oscillation condition + if(oscillation_timeout_ > 0.0 && + last_oscillation_reset_ + ros::Duration(oscillation_timeout_) < ros::Time::now()) + { + publishZeroVelocity(); + state_ = CLEARING; + recovery_trigger_ = OSCILLATION_R; + } + + { + boost::unique_lock lock(*(controller_costmap_ros_->getCostmap()->getMutex())); + + if(tc_->computeVelocityCommands(cmd_vel)){ + ROS_DEBUG_NAMED( "move_base", "Got a valid command from the local planner: %.3lf, %.3lf, %.3lf", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z ); + last_valid_control_ = ros::Time::now(); + //make sure that we send the velocity command to the base + vel_pub_.publish(cmd_vel); + if(recovery_trigger_ == CONTROLLING_R) + recovery_index_ = 0; + } + else { + ROS_DEBUG_NAMED("move_base", "The local planner could not find a valid plan."); + ros::Time attempt_end = last_valid_control_ + ros::Duration(controller_patience_); + + //check if we've tried to find a valid control for longer than our time limit + if(ros::Time::now() > attempt_end){ + //we'll move into our obstacle clearing mode + publishZeroVelocity(); + state_ = CLEARING; + recovery_trigger_ = CONTROLLING_R; + } + else{ + //otherwise, if we can't find a valid control, we'll go back to planning + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + state_ = PLANNING; + publishZeroVelocity(); + + //enable the planner thread in case it isn't running on a clock + boost::unique_lock lock(planner_mutex_); + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + } + } + } + + break; + + //we'll try to clear out space with any user-provided recovery behaviors + case CLEARING: + ROS_DEBUG_NAMED("move_base","In clearing/recovery state"); + //we'll invoke whatever recovery behavior we're currently on if they're enabled + if(recovery_behavior_enabled_ && recovery_index_ < recovery_behaviors_.size()){ + ROS_DEBUG_NAMED("move_base_recovery","Executing behavior %u of %zu", recovery_index_+1, recovery_behaviors_.size()); + + move_base_msgs::RecoveryStatus msg; + msg.pose_stamped = current_position; + msg.current_recovery_number = recovery_index_; + msg.total_number_of_recoveries = recovery_behaviors_.size(); + msg.recovery_behavior_name = recovery_behavior_names_[recovery_index_]; + + recovery_status_pub_.publish(msg); + + recovery_behaviors_[recovery_index_]->runBehavior(); + + //we at least want to give the robot some time to stop oscillating after executing the behavior + last_oscillation_reset_ = ros::Time::now(); + + //we'll check if the recovery behavior actually worked + ROS_DEBUG_NAMED("move_base_recovery","Going back to planning state"); + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + state_ = PLANNING; + + //update the index of the next recovery behavior that we'll try + recovery_index_++; + } + else{ + ROS_DEBUG_NAMED("move_base_recovery","All recovery behaviors have failed, locking the planner and disabling it."); + //disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + + ROS_DEBUG_NAMED("move_base_recovery","Something should abort after this."); + + if(recovery_trigger_ == CONTROLLING_R){ + ROS_ERROR("Aborting because a valid control could not be found. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid control. Even after executing recovery behaviors."); + } + else if(recovery_trigger_ == PLANNING_R){ + ROS_ERROR("Aborting because a valid plan could not be found. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid plan. Even after executing recovery behaviors."); + } + else if(recovery_trigger_ == OSCILLATION_R){ + ROS_ERROR("Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Robot is oscillating. Even after executing recovery behaviors."); + } + resetState(); + return true; + } + break; + default: + ROS_ERROR("This case should never be reached, something is wrong, aborting"); + resetState(); + //disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Reached a case that should not be hit in move_base. This is a bug, please report it."); + return true; + } + + //we aren't done yet + return false; + } + + bool MoveBase::loadRecoveryBehaviors(ros::NodeHandle node){ + XmlRpc::XmlRpcValue behavior_list; + if(node.getParam("recovery_behaviors", behavior_list)){ + if(behavior_list.getType() == XmlRpc::XmlRpcValue::TypeArray){ + for(int i = 0; i < behavior_list.size(); ++i){ + if(behavior_list[i].getType() == XmlRpc::XmlRpcValue::TypeStruct){ + if(behavior_list[i].hasMember("name") && behavior_list[i].hasMember("type")){ + //check for recovery behaviors with the same name + for(int j = i + 1; j < behavior_list.size(); j++){ + if(behavior_list[j].getType() == XmlRpc::XmlRpcValue::TypeStruct){ + if(behavior_list[j].hasMember("name") && behavior_list[j].hasMember("type")){ + std::string name_i = behavior_list[i]["name"]; + std::string name_j = behavior_list[j]["name"]; + if(name_i == name_j){ + ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.", + name_i.c_str()); + return false; + } + } + } + } + } + else{ + ROS_ERROR("Recovery behaviors must have a name and a type and this does not. Using the default recovery behaviors instead."); + return false; + } + } + else{ + ROS_ERROR("Recovery behaviors must be specified as maps, but they are XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list[i].getType()); + return false; + } + } + + //if we've made it to this point, we know that the list is legal so we'll create all the recovery behaviors + for(int i = 0; i < behavior_list.size(); ++i){ + try{ + //check if a non fully qualified name has potentially been passed in + if(!recovery_loader_.isClassAvailable(behavior_list[i]["type"])){ + std::vector classes = recovery_loader_.getDeclaredClasses(); + for(unsigned int i = 0; i < classes.size(); ++i){ + if(behavior_list[i]["type"] == recovery_loader_.getName(classes[i])){ + //if we've found a match... we'll get the fully qualified name and break out of the loop + ROS_WARN("Recovery behavior specifications should now include the package name. You are using a deprecated API. Please switch from %s to %s in your yaml file.", + std::string(behavior_list[i]["type"]).c_str(), classes[i].c_str()); + behavior_list[i]["type"] = classes[i]; + break; + } + } + } + + boost::shared_ptr behavior(recovery_loader_.createInstance(behavior_list[i]["type"])); + + //shouldn't be possible, but it won't hurt to check + if(behavior.get() == NULL){ + ROS_ERROR("The ClassLoader returned a null pointer without throwing an exception. This should not happen"); + return false; + } + + //initialize the recovery behavior with its name + behavior->initialize(behavior_list[i]["name"], &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back(behavior_list[i]["name"]); + recovery_behaviors_.push_back(behavior); + } + catch(pluginlib::PluginlibException& ex){ + ROS_ERROR("Failed to load a plugin. Using default recovery behaviors. Error: %s", ex.what()); + return false; + } + } + } + else{ + ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list.getType()); + return false; + } + } + else{ + //if no recovery_behaviors are specified, we'll just load the defaults + return false; + } + + //if we've made it here... we've constructed a recovery behavior list successfully + return true; + } + + //we'll load our default recovery behaviors here + void MoveBase::loadDefaultRecoveryBehaviors(){ + recovery_behaviors_.clear(); + try{ + //we need to set some parameters based on what's been passed in to us to maintain backwards compatibility + ros::NodeHandle n("~"); + n.setParam("conservative_reset/reset_distance", conservative_reset_dist_); + n.setParam("aggressive_reset/reset_distance", circumscribed_radius_ * 4); + + //first, we'll load a recovery behavior to clear the costmap + boost::shared_ptr cons_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); + cons_clear->initialize("conservative_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("conservative_reset"); + recovery_behaviors_.push_back(cons_clear); + + //next, we'll load a recovery behavior to rotate in place + boost::shared_ptr rotate(recovery_loader_.createInstance("rotate_recovery/RotateRecovery")); + if(clearing_rotation_allowed_){ + rotate->initialize("rotate_recovery", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("rotate_recovery"); + recovery_behaviors_.push_back(rotate); + } + + //next, we'll load a recovery behavior that will do an aggressive reset of the costmap + boost::shared_ptr ags_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); + ags_clear->initialize("aggressive_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("aggressive_reset"); + recovery_behaviors_.push_back(ags_clear); + + //we'll rotate in-place one more time + if(clearing_rotation_allowed_){ + recovery_behaviors_.push_back(rotate); + recovery_behavior_names_.push_back("rotate_recovery"); + } + } + catch(pluginlib::PluginlibException& ex){ + ROS_FATAL("Failed to load a plugin. This should not happen on default recovery behaviors. Error: %s", ex.what()); + } + + return; + } + + void MoveBase::resetState(){ + // Disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + + // Reset statemachine + state_ = PLANNING; + recovery_index_ = 0; + recovery_trigger_ = PLANNING_R; + publishZeroVelocity(); + + //if we shutdown our costmaps when we're deactivated... we'll do that now + if(shutdown_costmaps_){ + ROS_DEBUG_NAMED("move_base","Stopping costmaps"); + planner_costmap_ros_->stop(); + controller_costmap_ros_->stop(); + } + } + + bool MoveBase::getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap) + { + tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose); + geometry_msgs::PoseStamped robot_pose; + tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose); + robot_pose.header.frame_id = robot_base_frame_; + robot_pose.header.stamp = ros::Time(); // latest available + ros::Time current_time = ros::Time::now(); // save time for checking tf delay later + + // get robot pose on the given costmap frame + try + { + tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID()); + } + catch (tf2::LookupException& ex) + { + ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ConnectivityException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ExtrapolationException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what()); + return false; + } + + // check if global_pose time stamp is within costmap transform tolerance + if (!global_pose.header.stamp.isZero() && + current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance()) + { + ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " \ + "Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", costmap->getName().c_str(), + current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance()); + return false; + } + + return true; + } +}; diff --git a/src/navigation/move_base/src/move_base_node.cpp b/src/navigation/move_base/src/move_base_node.cpp new file mode 100644 index 0000000..bb69368 --- /dev/null +++ b/src/navigation/move_base/src/move_base_node.cpp @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2013, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include +#include + +int main(int argc, char** argv){ + ros::init(argc, argv, "move_base_node"); + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + move_base::MoveBase move_base( buffer ); + + //ros::MultiThreadedSpinner s; + ros::spin(); + + return(0); +} diff --git a/src/navigation/move_slow_and_clear/CHANGELOG.rst b/src/navigation/move_slow_and_clear/CHANGELOG.rst new file mode 100644 index 0000000..d69f550 --- /dev/null +++ b/src/navigation/move_slow_and_clear/CHANGELOG.rst @@ -0,0 +1,137 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_slow_and_clear +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* [move_slow_and_clear] Add rosparam representing max vel rosparam name (`#1039 `_) +* Contributors: Naoya Yamaguchi + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Merge pull request `#955 `_ from isjfk/melodic-devel + Fix move_slow_and_clear sending obsolete params to dwa_local_planner +* Fix move_slow_and_clear sending obsolete params to dwa_local_planner + issue. +* Contributors: Jimmy F. Klarke, Michael Ferguson, Sean Yen + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* address gcc6 build error +* remove GCC warnings +* Fix CMake warnings +* Contributors: Lukas Bulwahn, Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* Use service call, rather than system call, to call dynamic + reconfigure when decreasing move_base speed. +* Contributors: Ryohei Ueda + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/move_slow_and_clear/CMakeLists.txt b/src/navigation/move_slow_and_clear/CMakeLists.txt new file mode 100644 index 0000000..1ae6779 --- /dev/null +++ b/src/navigation/move_slow_and_clear/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(move_slow_and_clear) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + ) + + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +find_package(Boost REQUIRED COMPONENTS thread) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES move_slow_and_clear + CATKIN_DEPENDS + geometry_msgs + nav_core + pluginlib + roscpp +) + +add_library(${PROJECT_NAME} src/move_slow_and_clear.cpp) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ) + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + +install(TARGETS move_slow_and_clear + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES recovery_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + diff --git a/src/navigation/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h b/src/navigation/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h new file mode 100644 index 0000000..4c43e7e --- /dev/null +++ b/src/navigation/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h @@ -0,0 +1,85 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_ +#define MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_ + +#include +#include +#include +#include +#include + +namespace move_slow_and_clear +{ + class MoveSlowAndClear : public nav_core::RecoveryBehavior + { + public: + MoveSlowAndClear(); + ~MoveSlowAndClear(); + + /// Initialize the parameters of the behavior + void initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + + /// Run the behavior + void runBehavior(); + + private: + void setRobotSpeed(double trans_speed, double rot_speed); + void distanceCheck(const ros::TimerEvent& e); + double getSqDistance(); + + void removeSpeedLimit(); + + ros::NodeHandle private_nh_, planner_nh_; + costmap_2d::Costmap2DROS* global_costmap_; + costmap_2d::Costmap2DROS* local_costmap_; + bool initialized_; + double clearing_distance_, limited_distance_; + double limited_trans_speed_, limited_rot_speed_, old_trans_speed_, old_rot_speed_; + std::string max_trans_param_name_, max_rot_param_name_; + ros::Timer distance_check_timer_; + geometry_msgs::PoseStamped speed_limit_pose_; + boost::thread* remove_limit_thread_; + boost::mutex mutex_; + bool limit_set_; + ros::ServiceClient planner_dynamic_reconfigure_service_; + }; +}; + +#endif diff --git a/src/navigation/move_slow_and_clear/package.xml b/src/navigation/move_slow_and_clear/package.xml new file mode 100644 index 0000000..0147c34 --- /dev/null +++ b/src/navigation/move_slow_and_clear/package.xml @@ -0,0 +1,35 @@ + + + + move_slow_and_clear + 1.17.2 + + + move_slow_and_clear + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/move_slow_and_clear + + catkin + + cmake_modules + + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + + + + + + + + diff --git a/src/navigation/move_slow_and_clear/recovery_plugin.xml b/src/navigation/move_slow_and_clear/recovery_plugin.xml new file mode 100644 index 0000000..71776ee --- /dev/null +++ b/src/navigation/move_slow_and_clear/recovery_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that clears information in the costmap within the circumscribed radius of the robot and then limits the speed of the robot. Note, this recovery behavior is not truly safe, the robot may hit things, it'll just happen at a user-specified speed. Also, this recovery behavior is only compatible with local planners that allow maximum speeds to be set via dynamic reconfigure. + + + diff --git a/src/navigation/move_slow_and_clear/src/move_slow_and_clear.cpp b/src/navigation/move_slow_and_clear/src/move_slow_and_clear.cpp new file mode 100644 index 0000000..5fc6c96 --- /dev/null +++ b/src/navigation/move_slow_and_clear/src/move_slow_and_clear.cpp @@ -0,0 +1,225 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(move_slow_and_clear::MoveSlowAndClear, nav_core::RecoveryBehavior) + +namespace move_slow_and_clear +{ + MoveSlowAndClear::MoveSlowAndClear():global_costmap_(NULL), local_costmap_(NULL), + initialized_(false), remove_limit_thread_(NULL), limit_set_(false){} + + MoveSlowAndClear::~MoveSlowAndClear() + { + delete remove_limit_thread_; + } + + void MoveSlowAndClear::initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) + { + global_costmap_ = global_costmap; + local_costmap_ = local_costmap; + + ros::NodeHandle private_nh_("~/" + n); + private_nh_.param("clearing_distance", clearing_distance_, 0.5); + private_nh_.param("limited_trans_speed", limited_trans_speed_, 0.25); + private_nh_.param("limited_rot_speed", limited_rot_speed_, 0.45); + private_nh_.param("limited_distance", limited_distance_, 0.3); + private_nh_.param("max_trans_param_name", max_trans_param_name_, std::string("max_trans_vel")); + private_nh_.param("max_rot_param_name", max_rot_param_name_, std::string("max_rot_vel")); + + std::string planner_namespace; + private_nh_.param("planner_namespace", planner_namespace, std::string("DWAPlannerROS")); + planner_nh_ = ros::NodeHandle("~/" + planner_namespace); + planner_dynamic_reconfigure_service_ = planner_nh_.serviceClient("set_parameters", true); + initialized_ = true; + } + + void MoveSlowAndClear::runBehavior() + { + if(!initialized_) + { + ROS_ERROR("This recovery behavior has not been initialized, doing nothing."); + return; + } + ROS_WARN("Move slow and clear recovery behavior started."); + geometry_msgs::PoseStamped global_pose, local_pose; + global_costmap_->getRobotPose(global_pose); + local_costmap_->getRobotPose(local_pose); + + std::vector global_poly, local_poly; + geometry_msgs::Point pt; + + for(int i = -1; i <= 1; i+=2) + { + pt.x = global_pose.pose.position.x + i * clearing_distance_; + pt.y = global_pose.pose.position.y + i * clearing_distance_; + global_poly.push_back(pt); + + pt.x = global_pose.pose.position.x + i * clearing_distance_; + pt.y = global_pose.pose.position.y + -1.0 * i * clearing_distance_; + global_poly.push_back(pt); + + pt.x = local_pose.pose.position.x + i * clearing_distance_; + pt.y = local_pose.pose.position.y + i * clearing_distance_; + local_poly.push_back(pt); + + pt.x = local_pose.pose.position.x + i * clearing_distance_; + pt.y = local_pose.pose.position.y + -1.0 * i * clearing_distance_; + local_poly.push_back(pt); + } + + //clear the desired space in the costmaps + std::vector >* plugins = global_costmap_->getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + costmap->setConvexPolygonCost(global_poly, costmap_2d::FREE_SPACE); + } + } + + plugins = local_costmap_->getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + costmap->setConvexPolygonCost(local_poly, costmap_2d::FREE_SPACE); + } + } + + //lock... just in case we're already speed limited + boost::mutex::scoped_lock l(mutex_); + + //get the old maximum speed for the robot... we'll want to set it back + if(!limit_set_) + { + if(!planner_nh_.getParam(max_trans_param_name_, old_trans_speed_)) + { + ROS_ERROR("The planner %s, does not have the parameter %s", planner_nh_.getNamespace().c_str(), max_trans_param_name_.c_str()); + } + + if(!planner_nh_.getParam(max_rot_param_name_, old_rot_speed_)) + { + ROS_ERROR("The planner %s, does not have the parameter %s", planner_nh_.getNamespace().c_str(), max_rot_param_name_.c_str()); + } + } + + //we also want to save our current position so that we can remove the speed limit we impose later on + speed_limit_pose_ = global_pose; + + //limit the speed of the robot until it moves a certain distance + setRobotSpeed(limited_trans_speed_, limited_rot_speed_); + limit_set_ = true; + distance_check_timer_ = private_nh_.createTimer(ros::Duration(0.1), &MoveSlowAndClear::distanceCheck, this); + } + + double MoveSlowAndClear::getSqDistance() + { + geometry_msgs::PoseStamped global_pose; + global_costmap_->getRobotPose(global_pose); + double x1 = global_pose.pose.position.x; + double y1 = global_pose.pose.position.y; + + double x2 = speed_limit_pose_.pose.position.x; + double y2 = speed_limit_pose_.pose.position.y; + + return (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1); + } + + void MoveSlowAndClear::distanceCheck(const ros::TimerEvent& e) + { + if(limited_distance_ * limited_distance_ <= getSqDistance()) + { + ROS_INFO("Moved far enough, removing speed limit."); + //have to do this because a system call within a timer cb does not seem to play nice + if(remove_limit_thread_) + { + remove_limit_thread_->join(); + delete remove_limit_thread_; + } + remove_limit_thread_ = new boost::thread(boost::bind(&MoveSlowAndClear::removeSpeedLimit, this)); + + distance_check_timer_.stop(); + } + } + + void MoveSlowAndClear::removeSpeedLimit() + { + boost::mutex::scoped_lock l(mutex_); + setRobotSpeed(old_trans_speed_, old_rot_speed_); + limit_set_ = false; + } + + void MoveSlowAndClear::setRobotSpeed(double trans_speed, double rot_speed) + { + + { + dynamic_reconfigure::Reconfigure vel_reconfigure; + dynamic_reconfigure::DoubleParameter new_trans; + new_trans.name = max_trans_param_name_; + new_trans.value = trans_speed; + vel_reconfigure.request.config.doubles.push_back(new_trans); + try { + planner_dynamic_reconfigure_service_.call(vel_reconfigure); + ROS_INFO_STREAM("Recovery setting trans vel: " << trans_speed); + } + catch(...) { + ROS_ERROR("Something went wrong in the service call to dynamic_reconfigure"); + } + } + { + dynamic_reconfigure::Reconfigure rot_reconfigure; + dynamic_reconfigure::DoubleParameter new_rot; + new_rot.name = max_rot_param_name_; + new_rot.value = rot_speed; + rot_reconfigure.request.config.doubles.push_back(new_rot); + try { + planner_dynamic_reconfigure_service_.call(rot_reconfigure); + ROS_INFO_STREAM("Recovery setting rot vel: " << rot_speed); + } + catch(...) { + ROS_ERROR("Something went wrong in the service call to dynamic_reconfigure"); + } + } + } +}; diff --git a/src/navigation/nav_core/CHANGELOG.rst b/src/navigation/nav_core/CHANGELOG.rst new file mode 100644 index 0000000..cec214a --- /dev/null +++ b/src/navigation/nav_core/CHANGELOG.rst @@ -0,0 +1,109 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package nav_core +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* fix param names of RotateRecovery, closes `#706 `_ +* Contributors: David V. Lu, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* makePlan overload must return. +* Contributors: Eric Tappan, Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Merge pull request `#338 `_ from mikeferguson/planner_review +* fix doxygen, couple style fixes +* Contributors: Michael Ferguson + +1.13.0 (2015-03-17) +------------------- +* adding makePlan function with returned cost to base_global_planner +* Contributors: phil0stine + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/nav_core/CMakeLists.txt b/src/navigation/nav_core/CMakeLists.txt new file mode 100644 index 0000000..9cb0500 --- /dev/null +++ b/src/navigation/nav_core/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_core) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + geometry_msgs + tf2_ros + costmap_2d + ) + +catkin_package( + INCLUDE_DIRS + include + CATKIN_DEPENDS + std_msgs + geometry_msgs + tf2_ros + costmap_2d +) + + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) diff --git a/src/navigation/nav_core/include/nav_core/base_global_planner.h b/src/navigation/nav_core/include/nav_core/base_global_planner.h new file mode 100644 index 0000000..a863ca5 --- /dev/null +++ b/src/navigation/nav_core/include/nav_core/base_global_planner.h @@ -0,0 +1,93 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_BASE_GLOBAL_PLANNER_H +#define NAV_CORE_BASE_GLOBAL_PLANNER_H + +#include +#include + +namespace nav_core { + /** + * @class BaseGlobalPlanner + * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. + */ + class BaseGlobalPlanner{ + public: + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + virtual bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan) = 0; + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @param cost The plans calculated cost + * @return True if a valid plan was found, false otherwise + */ + virtual bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan, + double& cost) + { + cost = 0; + return makePlan(start, goal, plan); + } + + /** + * @brief Initialization function for the BaseGlobalPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~BaseGlobalPlanner(){} + + protected: + BaseGlobalPlanner(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H \ No newline at end of file diff --git a/src/navigation/nav_core/include/nav_core/base_local_planner.h b/src/navigation/nav_core/include/nav_core/base_local_planner.h new file mode 100644 index 0000000..1f13dd1 --- /dev/null +++ b/src/navigation/nav_core/include/nav_core/base_local_planner.h @@ -0,0 +1,90 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_BASE_LOCAL_PLANNER_H +#define NAV_CORE_BASE_LOCAL_PLANNER_H + +#include +#include +#include +#include + +namespace nav_core { + /** + * @class BaseLocalPlanner + * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. + */ + class BaseLocalPlanner{ + public: + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid velocity command was found, false otherwise + */ + virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; + + /** + * @brief Check if the goal pose has been achieved by the local planner + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached() = 0; + + /** + * @brief Set the plan that the local planner is following + * @param plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + virtual bool setPlan(const std::vector& plan) = 0; + + /** + * @brief Constructs the local planner + * @param name The name to give this instance of the local planner + * @param tf A pointer to a transform listener + * @param costmap_ros The cost map to use for assigning costs to local plans + */ + virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~BaseLocalPlanner(){} + + protected: + BaseLocalPlanner(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_BASE_LOCAL_PLANNER_H diff --git a/src/navigation/nav_core/include/nav_core/parameter_magic.h b/src/navigation/nav_core/include/nav_core/parameter_magic.h new file mode 100644 index 0000000..a318fd7 --- /dev/null +++ b/src/navigation/nav_core/include/nav_core/parameter_magic.h @@ -0,0 +1,86 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2018, Open Source Robotics Foundation +* 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 OSRF 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 OWNER 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. +* +* Author: David Lu +*********************************************************************/ + +#ifndef NAV_CORE_PARAMETER_MAGIC_H +#define NAV_CORE_PARAMETER_MAGIC_H + +namespace nav_core +{ + +/** + * @brief Load a parameter from one of two namespaces. Complain if it uses the old name. + * @param nh NodeHandle to look for the parameter in + * @param current_name Parameter name that is current, i.e. not deprecated + * @param old_name Deprecated parameter name + * @param default_value If neither parameter is present, return this value + * @return The value of the parameter or the default value + */ +template +param_t loadParameterWithDeprecation(const ros::NodeHandle& nh, const std::string current_name, + const std::string old_name, const param_t& default_value) +{ + param_t value; + if (nh.hasParam(current_name)) + { + nh.getParam(current_name, value); + return value; + } + if (nh.hasParam(old_name)) + { + ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str()); + nh.getParam(old_name, value); + return value; + } + return default_value; +} + +/** + * @brief Warn if a parameter exists under a deprecated (and unsupported) name. + * + * Parameters loaded exclusively through dynamic reconfigure can't really use loadParamWithDeprecation. + */ +void warnRenamedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name) +{ + if (nh.hasParam(old_name)) + { + ROS_WARN("Parameter %s is deprecated (and will not load properly). Use %s instead.", old_name.c_str(), current_name.c_str()); + } +} + +} // namespace nav_core + +#endif // NAV_CORE_PARAMETER_MAGIC_H diff --git a/src/navigation/nav_core/include/nav_core/recovery_behavior.h b/src/navigation/nav_core/include/nav_core/recovery_behavior.h new file mode 100644 index 0000000..07fd299 --- /dev/null +++ b/src/navigation/nav_core/include/nav_core/recovery_behavior.h @@ -0,0 +1,73 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_RECOVERY_BEHAVIOR_H +#define NAV_CORE_RECOVERY_BEHAVIOR_H + +#include +#include + +namespace nav_core { + /** + * @class RecoveryBehavior + * @brief Provides an interface for recovery behaviors used in navigation. All recovery behaviors written as plugins for the navigation stack must adhere to this interface. + */ + class RecoveryBehavior{ + public: + /** + * @brief Initialization function for the RecoveryBehavior + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) = 0; + + /** + * @brief Runs the RecoveryBehavior + */ + virtual void runBehavior() = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~RecoveryBehavior(){} + + protected: + RecoveryBehavior(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_RECOVERY_BEHAVIOR_H diff --git a/src/navigation/nav_core/package.xml b/src/navigation/nav_core/package.xml new file mode 100644 index 0000000..c16bbb1 --- /dev/null +++ b/src/navigation/nav_core/package.xml @@ -0,0 +1,26 @@ + + + + nav_core + 1.17.2 + + + This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/nav_core + + catkin + + costmap_2d + geometry_msgs + std_msgs + tf2_ros + + diff --git a/src/navigation/navfn/CHANGELOG.rst b/src/navigation/navfn/CHANGELOG.rst new file mode 100644 index 0000000..f8b43d2 --- /dev/null +++ b/src/navigation/navfn/CHANGELOG.rst @@ -0,0 +1,179 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package navfn +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- +* navfn: stop installing test headers (`#1085 `_) + The navtest executable is only built if FLTK is installed. However, the + header it uses is installed regardless, and requires FLTK. Nothing else + uses this header, and navfn doesn't depend upon FLTK, so stop installing + the header. Also fix navtest to actually build when FLTK is installed. +* Contributors: Kyle Fazzari + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- +* Fix Unknown CMake command check_include_file (navfn & base_local_planner) (`#975 `_) +* Contributors: Sam Pfeiffer + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Add frame ID to empty NavFn paths (`#964 `_) + * Don't publish empty paths + RViz will complain about not being able to transform the path if it doesn't have a frame ID, so we'll just drop these + Closes `#963 `_ + * Publish empty paths with a valid frame + * Fix indexing into empty plan for timestamp +* Contributors: Nick Walker, Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Merge pull request `#789 `_ from ipa-fez/fix/astar_const_melodic + Remove const from create_nav_plan_astar +* remove const from create_nav_plan_astar +* Contributors: David V. Lu, Felix, Michael Ferguson + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove dependency on PCL +* Switch to TF2 `#755 `_ +* Merge pull request `#737 `_ from marting87/minor_comment_fixes + Minor comment corrections +* Contributors: David V. Lu, Martin Ganeff, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Remove Dead Code [Lunar] (`#646 `_) + * Clean up navfn + * Cleanup amcl +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* port `#549 `_ (in alphabetical order) +* address gcc6 build error +* remove GCC warnings +* Contributors: Lukas Bulwahn, Martin Günther, Michael Ferguson, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- +* navfn: make independent on costmap implementation + navfn::NavfnROS: + * remove direct dependency on costmap_2d::Costmap2DROS + * add constructor for barebone costmap_2d::Costmap2D (user must provide also global_frame) + * NavfnROS::initialize() follows constructor semantics + nav_core::BaseGlobalPlanner interface unchanged +* Contributors: Jiri Horner + +1.13.1 (2015-10-29) +------------------- +* Fix for `#337 `_ +* Contributors: David V. Lu!! + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* removes unused param planner_costmap_publish_frequency +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* Contributors: David Lu!! + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* navfn: fix parallel build error from missing dep +* fixed header installation directory +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* fixed `#103 `_, navfn_node not installed +* Potential missing dependency diff --git a/src/navigation/navfn/CMakeLists.txt b/src/navigation/navfn/CMakeLists.txt new file mode 100644 index 0000000..e49357a --- /dev/null +++ b/src/navigation/navfn/CMakeLists.txt @@ -0,0 +1,141 @@ +cmake_minimum_required(VERSION 3.0.2) +project(navfn) + +include(CheckIncludeFile) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + geometry_msgs + message_generation + nav_core + nav_msgs + pluginlib + rosconsole + roscpp + tf2_ros + sensor_msgs + visualization_msgs + ) + +find_package(Eigen3 REQUIRED) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + + +# services +add_service_files( + DIRECTORY srv + FILES + MakeNavPlan.srv + SetCostmap.srv +) + +generate_messages( + DEPENDENCIES + geometry_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + navfn + CATKIN_DEPENDS + geometry_msgs + message_runtime + nav_core + nav_msgs + pluginlib + roscpp + sensor_msgs + visualization_msgs +) + +check_include_file(sys/time.h HAVE_SYS_TIME_H) +if (HAVE_SYS_TIME_H) + add_definitions(-DHAVE_SYS_TIME_H) +endif (HAVE_SYS_TIME_H) + +add_library (navfn src/navfn.cpp src/navfn_ros.cpp) +target_link_libraries(navfn + ${catkin_LIBRARIES} + ) +add_dependencies(navfn ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) + +add_executable(navfn_node src/navfn_node.cpp) +target_link_libraries(navfn_node + navfn + ) + +install(TARGETS navfn_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(TARGETS navfn + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/navfn/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +### The problem with FindFLTK is that it only reports success if *all* +### fltk components are installed, but we only need the core library. +# include (FindFLTK) +include (CheckIncludeFileCXX) +check_include_file_cxx (FL/Fl.H NAVFN_HAVE_FLTK) +check_include_file_cxx (pgm.h NAVFN_HAVE_NETPBM) +message (STATUS "NAVFN_HAVE_FLTK: ${NAVFN_HAVE_FLTK}, NETPBM: ${NAVFN_HAVE_NETPBM}") +# Just linking -lfltk is not sufficient on OS X +if (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE) + message (STATUS "FLTK found: adding navtest to build") + add_executable (navtest src/navtest/navtest.cpp src/navtest/navwin.cpp) + set (FLTK_SKIP_FLUID 1) + set (FLTK_SKIP_FORMS 1) + set (FLTK_SKIP_IMAGES 1) + find_package(FLTK) + if(FLTK_FOUND) + target_link_libraries (navtest navfn netpbm ${FLTK_LIBRARIES}) + else (FLTK_FOUND) + target_link_libraries (navtest navfn netpbm fltk) + endif (FLTK_FOUND) +else (NAVFN_HAVE_FLTK) + message (STATUS "FLTK orf NETPBM not found: cannot build navtest") +endif (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE) + +### For some reason (on cmake-2.4.7 at least) the "check" for pgm.h +### always succeeds, even if pgm.h is not installed. It seems to be +### caused by a bug in the rule that attempts to build the C source: +### instead of directly calling e.g. 'gcc -c +### /CMakeFiles/CMakeTmp/CheckIncludeFile.c' it goes through some make +### infrastructure, which reports "Nothing to be done for +### `CMakeFiles/cmTryCompileExec.dir/build'" and calls that a success. +### +### As a workaround we simply force everyone to install libnetpbm +# +# include (CheckIncludeFile) +# check_include_file (pgm.h NAVFN_HAVE_NETPBM) +# message (STATUS "NAVFN_HAVE_NETPBM: ${NAVFN_HAVE_NETPBM}") +# if (NAVFN_HAVE_NETPBM) +# message (STATUS "found pgm.h") +# add_definitions (-DNAVFN_HAVE_NETPBM) +#target_link_libraries (navfn -lnetpbm) +# else (NAVFN_HAVE_NETPBM) +# message (STATUS "pgm.h not found (optional)") +# endif (NAVFN_HAVE_NETPBM) + +if(CATKIN_ENABLE_TESTING) + add_subdirectory(test) +endif() diff --git a/src/navigation/navfn/Makefile.orig b/src/navigation/navfn/Makefile.orig new file mode 100644 index 0000000..95abc9c --- /dev/null +++ b/src/navigation/navfn/Makefile.orig @@ -0,0 +1,39 @@ +# +# Makefile for navigation function planner +# + +CC = g++ +CXX = g++ +LD = g++ +CPPFLAGS = -Wall -g -O3 -Iinclude -I/usr/local/include -I/usr/local/include/opencv +CFLAGS = -DGCC -msse2 -mpreferred-stack-boundary=4 -O3 -Wall -Iinclude -I/usr/local/include +GCC = g++ +LDFLAGS = -Lbin +SHAREDFLAGS = -shared -Wl,-soname, +LIBS = -lfltk -lnetpbm + +OBJECTS = navfn navwin + +all: bin/navtest + +bin/navtest: obj/navtest.o $(OBJECTS:%=obj/%.o) + $(LD) $(LDFLAGS) -o $@ $(OBJECTS:%=obj/%.o) obj/navtest.o $(LIBS) + +# general cpp command from src->obj +obj/%.o:src/%.cpp + $(GCC) $(CPPFLAGS) -c $< -o $@ + +# general c command from src->obj +obj/%.o:src/%.c + $(GCC) $(CFLAGS) -c $< -o $@ + +obj/navfn.o: include/navfn/navfn.h + +clean: + - rm obj/*.o + - rm bin/navtest + +dist: + + + diff --git a/src/navigation/navfn/bgp_plugin.xml b/src/navigation/navfn/bgp_plugin.xml new file mode 100644 index 0000000..86f3ad6 --- /dev/null +++ b/src/navigation/navfn/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a grid based planner using Dijkstra + + + diff --git a/src/navigation/navfn/include/navfn/navfn.h b/src/navigation/navfn/include/navfn/navfn.h new file mode 100644 index 0000000..7edc3a4 --- /dev/null +++ b/src/navigation/navfn/include/navfn/navfn.h @@ -0,0 +1,267 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +*********************************************************************/ + +// +// Navigation function computation +// Uses Dijkstra's method +// Modified for Euclidean-distance computation +// + +#ifndef _NAVFN_H +#define _NAVFN_H + +#include +#include +#include +#include + +// cost defs +#define COST_UNKNOWN_ROS 255 // 255 is unknown cost +#define COST_OBS 254 // 254 for forbidden regions +#define COST_OBS_ROS 253 // ROS values of 253 are obstacles + +// navfn cost values are set to +// COST_NEUTRAL + COST_FACTOR * costmap_cost_value. +// Incoming costmap cost values are in the range 0 to 252. +// With COST_NEUTRAL of 50, the COST_FACTOR needs to be about 0.8 to +// ensure the input values are spread evenly over the output range, 50 +// to 253. If COST_FACTOR is higher, cost values will have a plateau +// around obstacles and the planner will then treat (for example) the +// whole width of a narrow hallway as equally undesirable and thus +// will not plan paths down the center. + +#define COST_NEUTRAL 50 // Set this to "open space" value +#define COST_FACTOR 0.8 // Used for translating costs in NavFn::setCostmap() + +// Define the cost type in the case that it is not set. However, this allows +// clients to modify it without changing the file. Arguably, it is better to require it to +// be defined by a user explicitly +#ifndef COSTTYPE +#define COSTTYPE unsigned char // Whatever is used... +#endif + +// potential defs +#define POT_HIGH 1.0e10 // unassigned cell potential + +// priority buffers +#define PRIORITYBUFSIZE 10000 + + +namespace navfn { + /** + Navigation function call. + \param costmap Cost map array, of type COSTTYPE; origin is upper left +NOTE: will be modified to have a border of obstacle costs +\param nx Width of map in cells +\param ny Height of map in cells +\param goal X,Y position of goal cell +\param start X,Y position of start cell + +Returns length of plan if found, and fills an array with x,y interpolated +positions at about 1/2 cell resolution; else returns 0. + +*/ + + int create_nav_plan_astar(COSTTYPE *costmap, int nx, int ny, + int* goal, int* start, + float *plan, int nplan); + + + + /** + * @class NavFn + * @brief Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. + */ + class NavFn + { + public: + /** + * @brief Constructs the planner + * @param nx The x size of the map + * @param ny The y size of the map + */ + NavFn(int nx, int ny); // size of map + + ~NavFn(); + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + void setNavArr(int nx, int ny); /**< sets or resets the size of the map */ + int nx, ny, ns; /**< size of grid, in pixels */ + + /** + * @brief Set up the cost array for the planner, usually from ROS + * @param cmap The costmap + * @param isROS Whether or not the costmap is coming in in ROS format + * @param allow_unknown Whether or not the planner should be allowed to plan through unknown space + */ + void setCostmap(const COSTTYPE *cmap, bool isROS=true, bool allow_unknown = true); /**< sets up the cost map */ + + /** + * @brief Calculates a plan using the A* heuristic, returns true if one is found + * @return True if a plan is found, false otherwise + */ + bool calcNavFnAstar(); /**< calculates a plan, returns true if found */ + + /** + * @brief Caclulates the full navigation function using Dijkstra + */ + bool calcNavFnDijkstra(bool atStart = false); /**< calculates the full navigation function */ + + /** + * @brief Accessor for the x-coordinates of a path + * @return The x-coordinates of a path + */ + float *getPathX(); /**< x-coordinates of path */ + + /** + * @brief Accessor for the y-coordinates of a path + * @return The y-coordinates of a path + */ + float *getPathY(); /**< y-coordinates of path */ + + /** + * @brief Accessor for the length of a path + * @return The length of a path + */ + int getPathLen(); /**< length of path, 0 if not found */ + + /** + * @brief Gets the cost of the path found the last time a navigation function was computed + * @return The cost of the last path found + */ + float getLastPathCost(); /**< Return cost of path found the last time A* was called */ + + /** cell arrays */ + COSTTYPE *costarr; /**< cost array in 2D configuration space */ + float *potarr; /**< potential array, navigation function potential */ + bool *pending; /**< pending cells during propagation */ + int nobs; /**< number of obstacle cells */ + + /** block priority buffers */ + int *pb1, *pb2, *pb3; /**< storage buffers for priority blocks */ + int *curP, *nextP, *overP; /**< priority buffer block ptrs */ + int curPe, nextPe, overPe; /**< end points of arrays */ + + /** block priority thresholds */ + float curT; /**< current threshold */ + float priInc; /**< priority threshold increment */ + + /** goal and start positions */ + /** + * @brief Sets the goal position for the planner. Note: the navigation cost field computed gives the cost to get to a given point from the goal, not from the start. + * @param goal the goal position + */ + void setGoal(int *goal); + + /** + * @brief Sets the start position for the planner. Note: the navigation cost field computed gives the cost to get to a given point from the goal, not from the start. + * @param start the start position + */ + void setStart(int *start); + + int goal[2]; + int start[2]; + /** + * @brief Initialize cell k with cost v for propagation + * @param k the cell to initialize + * @param v the cost to give to the cell + */ + void initCost(int k, float v); /**< initialize cell with cost , for propagation */ + + /** propagation */ + + /** + * @brief Updates the cell at index n + * @param n The index to update + */ + void updateCell(int n); /**< updates the cell at index */ + + /** + * @brief Updates the cell at index n using the A* heuristic + * @param n The index to update + */ + void updateCellAstar(int n); /**< updates the cell at index , uses A* heuristic */ + + void setupNavFn(bool keepit = false); /**< resets all nav fn arrays for propagation */ + + /** + * @brief Run propagation for iterations, or until start is reached using breadth-first Dijkstra method + * @param cycles The maximum number of iterations to run for + * @param atStart Whether or not to stop when the start point is reached + * @return true if the start point is reached + */ + bool propNavFnDijkstra(int cycles, bool atStart = false); /**< returns true if start point found or full prop */ + /** + * @brief Run propagation for iterations, or until start is reached using the best-first A* method with Euclidean distance heuristic + * @param cycles The maximum number of iterations to run for + * @return true if the start point is reached + */ + bool propNavFnAstar(int cycles); /**< returns true if start point found */ + + /** gradient and paths */ + float *gradx, *grady; /**< gradient arrays, size of potential array */ + float *pathx, *pathy; /**< path points, as subpixel cell coordinates */ + int npath; /**< number of path points */ + int npathbuf; /**< size of pathx, pathy buffers */ + + float last_path_cost_; /**< Holds the cost of the path found the last time A* was called */ + + + /** + * @brief Calculates the path for at mose cycles + * @param n The maximum number of cycles to run for + * @return The length of the path found + */ + int calcPath(int n, int *st = NULL); /**< calculates path for at most cycles, returns path length, 0 if none */ + + float gradCell(int n); /**< calculates gradient at cell , returns norm */ + float pathStep; /**< step size for following gradient */ + + /** display callback */ + void display(void fn(NavFn *nav), int n = 100); /**< is the number of cycles between updates */ + int displayInt; /**< save second argument of display() above */ + void (*displayFn)(NavFn *nav); /**< display function itself */ + + /** save costmap */ + void savemap(const char *fname); /**< write out costmap and start/goal states as fname.pgm and fname.txt */ + + }; +}; + + +#endif // NAVFN diff --git a/src/navigation/navfn/include/navfn/navfn_ros.h b/src/navigation/navfn/include/navfn/navfn_ros.h new file mode 100644 index 0000000..9438007 --- /dev/null +++ b/src/navigation/navfn/include/navfn/navfn_ros.h @@ -0,0 +1,188 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAVFN_NAVFN_ROS_H_ +#define NAVFN_NAVFN_ROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace navfn { + /** + * @class NavfnROS + * @brief Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. + */ + class NavfnROS : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Default constructor for the NavFnROS object + */ + NavfnROS(); + + /** + * @brief Constructor for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the ROS wrapper of the costmap to use + */ + NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Constructor for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use + * @param global_frame The global frame of the costmap + */ + NavfnROS(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame); + + /** + * @brief Initialization function for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Initialization function for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use for planning + * @param global_frame The global frame of the costmap + */ + void initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param tolerance The tolerance on the goal point for the planner + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, double tolerance, std::vector& plan); + + /** + * @brief Computes the full navigation function for the map given a point in the world to start from + * @param world_point The point to use for seeding the navigation function + * @return True if the navigation function was computed successfully, false otherwise + */ + bool computePotential(const geometry_msgs::Point& world_point); + + /** + * @brief Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) + * @param goal The goal pose to create a plan to + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector& plan); + + /** + * @brief Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return The navigation function's value at that point in the world + */ + double getPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @param tolerance The tolerance on searching around the world_point specified + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance); + + /** + * @brief Publish a path for visualization purposes + */ + void publishPlan(const std::vector& path, double r, double g, double b, double a); + + ~NavfnROS(){} + + bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp); + + protected: + + /** + * @brief Store a copy of the current costmap in \a costmap. Called by makePlan. + */ + costmap_2d::Costmap2D* costmap_; + boost::shared_ptr planner_; + ros::Publisher plan_pub_; + ros::Publisher potarr_pub_; + bool initialized_, allow_unknown_, visualize_potential_; + + + private: + inline double sq_distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2){ + double dx = p1.pose.position.x - p2.pose.position.x; + double dy = p1.pose.position.y - p2.pose.position.y; + return dx*dx +dy*dy; + } + + void mapToWorld(double mx, double my, double& wx, double& wy); + void clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my); + double planner_window_x_, planner_window_y_, default_tolerance_; + boost::mutex mutex_; + ros::ServiceServer make_plan_srv_; + std::string global_frame_; + }; +}; + +#endif diff --git a/src/navigation/navfn/include/navfn/potarr_point.h b/src/navigation/navfn/include/navfn/potarr_point.h new file mode 100644 index 0000000..957e991 --- /dev/null +++ b/src/navigation/navfn/include/navfn/potarr_point.h @@ -0,0 +1,50 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, (Simon) Ye Cheng +* 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 Willow Garage 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 OWNER 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 POTARR_POINT_H_ +#define POTARR_POINT_H_ + +namespace navfn { + struct PotarrPoint { + float x; + float y; + float z; + float pot_value; + }; +} + +#endif + diff --git a/src/navigation/navfn/include/navfn/read_pgm_costmap.h b/src/navigation/navfn/include/navfn/read_pgm_costmap.h new file mode 100644 index 0000000..37bfe68 --- /dev/null +++ b/src/navigation/navfn/include/navfn/read_pgm_costmap.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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 READ_PGM_COSTMAP_H +#define READ_PGM_COSTMAP_H + +// is true for ROS-generated raw cost maps +COSTTYPE *readPGM(const char *fname, int *width, int *height, bool raw = false); + +#endif // READ_PGM_COSTMAP_H diff --git a/src/navigation/navfn/package.xml b/src/navigation/navfn/package.xml new file mode 100644 index 0000000..3e0c8e2 --- /dev/null +++ b/src/navigation/navfn/package.xml @@ -0,0 +1,49 @@ + + + + navfn + 1.17.2 + + + navfn provides a fast interpolated navigation function that can be used to create plans for + a mobile base. The planner assumes a circular robot and operates on a costmap to find a + minimum cost plan from a start point to an end point in a grid. The navigation function is + computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the + near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the + nav_core::BaseGlobalPlanner interface specified in nav_core. + + + Kurt Konolige + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/navfn + + catkin + + cmake_modules + message_generation + netpbm + + costmap_2d + geometry_msgs + nav_core + nav_msgs + pluginlib + rosconsole + roscpp + sensor_msgs + tf2_ros + visualization_msgs + + message_runtime + + rosunit + + + + + diff --git a/src/navigation/navfn/src/navfn.cpp b/src/navigation/navfn/src/navfn.cpp new file mode 100644 index 0000000..8b1fffc --- /dev/null +++ b/src/navigation/navfn/src/navfn.cpp @@ -0,0 +1,1056 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +*********************************************************************/ +// +// Navigation function computation +// Uses Dijkstra's method +// Modified for Euclidean-distance computation +// +// Path calculation uses no interpolation when pot field is at max in +// nearby cells +// +// Path calc has sanity check that it succeeded +// + + +#include +#include + +namespace navfn { + + // + // function to perform nav fn calculation + // keeps track of internal buffers, will be more efficient + // if the size of the environment does not change + // + + int + create_nav_plan_astar(COSTTYPE *costmap, int nx, int ny, + int* goal, int* start, + float *plan, int nplan) + { + static NavFn *nav = NULL; + + if (nav == NULL) + nav = new NavFn(nx,ny); + + if (nav->nx != nx || nav->ny != ny) // check for compatibility with previous call + { + delete nav; + nav = new NavFn(nx,ny); + } + + nav->setGoal(goal); + nav->setStart(start); + + nav->costarr = costmap; + nav->setupNavFn(true); + + // calculate the nav fn and path + nav->priInc = 2*COST_NEUTRAL; + nav->propNavFnAstar(std::max(nx*ny/20,nx+ny)); + + // path + int len = nav->calcPath(nplan); + + if (len > 0) // found plan + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + else + ROS_DEBUG("[NavFn] No path found\n"); + + if (len > 0) + { + for (int i=0; ipathx[i]; + plan[i*2+1] = nav->pathy[i]; + } + } + + return len; + } + + + + + // + // create nav fn buffers + // + + NavFn::NavFn(int xs, int ys) + { + // create cell arrays + costarr = NULL; + potarr = NULL; + pending = NULL; + gradx = grady = NULL; + setNavArr(xs,ys); + + // priority buffers + pb1 = new int[PRIORITYBUFSIZE]; + pb2 = new int[PRIORITYBUFSIZE]; + pb3 = new int[PRIORITYBUFSIZE]; + + // for Dijkstra (breadth-first), set to COST_NEUTRAL + // for A* (best-first), set to COST_NEUTRAL + priInc = 2*COST_NEUTRAL; + + // goal and start + goal[0] = goal[1] = 0; + start[0] = start[1] = 0; + + // display function + displayFn = NULL; + displayInt = 0; + + // path buffers + npathbuf = npath = 0; + pathx = pathy = NULL; + pathStep = 0.5; + } + + + NavFn::~NavFn() + { + if(costarr) + delete[] costarr; + if(potarr) + delete[] potarr; + if(pending) + delete[] pending; + if(gradx) + delete[] gradx; + if(grady) + delete[] grady; + if(pathx) + delete[] pathx; + if(pathy) + delete[] pathy; + if(pb1) + delete[] pb1; + if(pb2) + delete[] pb2; + if(pb3) + delete[] pb3; + } + + + // + // set goal, start positions for the nav fn + // + + void + NavFn::setGoal(int *g) + { + goal[0] = g[0]; + goal[1] = g[1]; + ROS_DEBUG("[NavFn] Setting goal to %d,%d\n", goal[0], goal[1]); + } + + void + NavFn::setStart(int *g) + { + start[0] = g[0]; + start[1] = g[1]; + ROS_DEBUG("[NavFn] Setting start to %d,%d\n", start[0], start[1]); + } + + // + // Set/Reset map size + // + + void + NavFn::setNavArr(int xs, int ys) + { + ROS_DEBUG("[NavFn] Array is %d x %d\n", xs, ys); + + nx = xs; + ny = ys; + ns = nx*ny; + + if(costarr) + delete[] costarr; + if(potarr) + delete[] potarr; + if(pending) + delete[] pending; + + if(gradx) + delete[] gradx; + if(grady) + delete[] grady; + + costarr = new COSTTYPE[ns]; // cost array, 2d config space + memset(costarr, 0, ns*sizeof(COSTTYPE)); + potarr = new float[ns]; // navigation potential array + pending = new bool[ns]; + memset(pending, 0, ns*sizeof(bool)); + gradx = new float[ns]; + grady = new float[ns]; + } + + + // + // set up cost array, usually from ROS + // + + void + NavFn::setCostmap(const COSTTYPE *cmap, bool isROS, bool allow_unknown) + { + COSTTYPE *cm = costarr; + if (isROS) // ROS-type cost array + { + for (int i=0; i COST_OBS (incoming "lethal obstacle") + // COST_OBS_ROS -> COST_OBS (incoming "inscribed inflated obstacle") + // values in range 0 to 252 -> values from COST_NEUTRAL to COST_OBS_ROS. + *cm = COST_OBS; + int v = *cmap; + if (v < COST_OBS_ROS) + { + v = COST_NEUTRAL+COST_FACTOR*v; + if (v >= COST_OBS) + v = COST_OBS-1; + *cm = v; + } + else if(v == COST_UNKNOWN_ROS && allow_unknown) + { + v = COST_OBS-1; + *cm = v; + } + } + } + } + + else // not a ROS map, just a PGM + { + for (int i=0; i ny-8 || j<7 || j > nx-8) + continue; // don't do borders + int v = *cmap; + if (v < COST_OBS_ROS) + { + v = COST_NEUTRAL+COST_FACTOR*v; + if (v >= COST_OBS) + v = COST_OBS-1; + *cm = v; + } + else if(v == COST_UNKNOWN_ROS) + { + v = COST_OBS-1; + *cm = v; + } + } + } + + } + } + + bool + NavFn::calcNavFnDijkstra(bool atStart) + { + setupNavFn(true); + + // calculate the nav fn and path + propNavFnDijkstra(std::max(nx*ny/20,nx+ny),atStart); + + // path + int len = calcPath(nx*ny/2); + + if (len > 0) // found plan + { + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + return true; + } + else + { + ROS_DEBUG("[NavFn] No path found\n"); + return false; + } + + } + + + // + // calculate navigation function, given a costmap, goal, and start + // + + bool + NavFn::calcNavFnAstar() + { + setupNavFn(true); + + // calculate the nav fn and path + propNavFnAstar(std::max(nx*ny/20,nx+ny)); + + // path + int len = calcPath(nx*4); + + if (len > 0) // found plan + { + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + return true; + } + else + { + ROS_DEBUG("[NavFn] No path found\n"); + return false; + } + } + + + // + // returning values + // + + float *NavFn::getPathX() { return pathx; } + float *NavFn::getPathY() { return pathy; } + int NavFn::getPathLen() { return npath; } + + // inserting onto the priority blocks +#define push_cur(n) { if (n>=0 && n=0 && n=0 && n= COST_OBS) + ntot++; // number of cells that are obstacles + } + nobs = ntot; + } + + + // initialize a goal-type cost for starting propagation + + void + NavFn::initCost(int k, float v) + { + potarr[k] = v; + push_cur(k+1); + push_cur(k-1); + push_cur(k-nx); + push_cur(k+nx); + } + + + // + // Critical function: calculate updated potential value of a cell, + // given its neighbors' values + // Planar-wave update calculation from two lowest neighbors in a 4-grid + // Quadratic approximation to the interpolated value + // No checking of bounds here, this function should be fast + // + +#define INVSQRT2 0.707106781 + + inline void + NavFn::updateCell(int n) + { + // get neighbors + float u,d,l,r; + l = potarr[n-1]; + r = potarr[n+1]; + u = potarr[n-nx]; + d = potarr[n+nx]; + // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", + // potarr[n], l, r, u, d); + // ROS_INFO("[Update] cost: %d\n", costarr[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l= hf) // if too large, use ta-only update + pot = ta+hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc/hf; + float v = -0.2301*d*d + 0.5307*d + 0.7040; + pot = ta + hf*v; + } + + // ROS_INFO("[Update] new pot: %d\n", costarr[n]); + + // now add affected neighbors to priority blocks + if (pot < potarr[n]) + { + float le = INVSQRT2*(float)costarr[n-1]; + float re = INVSQRT2*(float)costarr[n+1]; + float ue = INVSQRT2*(float)costarr[n-nx]; + float de = INVSQRT2*(float)costarr[n+nx]; + potarr[n] = pot; + if (pot < curT) // low-cost buffer block + { + if (l > pot+le) push_next(n-1); + if (r > pot+re) push_next(n+1); + if (u > pot+ue) push_next(n-nx); + if (d > pot+de) push_next(n+nx); + } + else // overflow block + { + if (l > pot+le) push_over(n-1); + if (r > pot+re) push_over(n+1); + if (u > pot+ue) push_over(n-nx); + if (d > pot+de) push_over(n+nx); + } + } + + } + + } + + + // + // Use A* method for setting priorities + // Critical function: calculate updated potential value of a cell, + // given its neighbors' values + // Planar-wave update calculation from two lowest neighbors in a 4-grid + // Quadratic approximation to the interpolated value + // No checking of bounds here, this function should be fast + // + +#define INVSQRT2 0.707106781 + + inline void + NavFn::updateCellAstar(int n) + { + // get neighbors + float u,d,l,r; + l = potarr[n-1]; + r = potarr[n+1]; + u = potarr[n-nx]; + d = potarr[n+nx]; + //ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", + // potarr[n], l, r, u, d); + // ROS_INFO("[Update] cost of %d: %d\n", n, costarr[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l= hf) // if too large, use ta-only update + pot = ta+hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc/hf; + float v = -0.2301*d*d + 0.5307*d + 0.7040; + pot = ta + hf*v; + } + + //ROS_INFO("[Update] new pot: %d\n", costarr[n]); + + // now add affected neighbors to priority blocks + if (pot < potarr[n]) + { + float le = INVSQRT2*(float)costarr[n-1]; + float re = INVSQRT2*(float)costarr[n+1]; + float ue = INVSQRT2*(float)costarr[n-nx]; + float de = INVSQRT2*(float)costarr[n+nx]; + + // calculate distance + int x = n%nx; + int y = n/nx; + float dist = hypot(x-start[0], y-start[1])*(float)COST_NEUTRAL; + + potarr[n] = pot; + pot += dist; + if (pot < curT) // low-cost buffer block + { + if (l > pot+le) push_next(n-1); + if (r > pot+re) push_next(n+1); + if (u > pot+ue) push_next(n-nx); + if (d > pot+de) push_next(n+nx); + } + else + { + if (l > pot+le) push_over(n-1); + if (r > pot+re) push_over(n+1); + if (u > pot+ue) push_over(n-nx); + if (d > pot+de) push_over(n+nx); + } + } + + } + + } + + + + // + // main propagation function + // Dijkstra method, breadth-first + // runs for a specified number of cycles, + // or until it runs out of cells to update, + // or until the Start cell is found (atStart = true) + // + + bool + NavFn::propNavFnDijkstra(int cycles, bool atStart) + { + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set up start cell + int startCell = start[1]*nx + start[0]; + + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (curPe == 0 && nextPe == 0) // priority blocks empty + break; + + // stats + nc += curPe; + if (curPe > nwv) + nwv = curPe; + + // reset pending flags on current priority buffer + int *pb = curP; + int i = curPe; + while (i-- > 0) + pending[*(pb++)] = false; + + // process current priority buffer + pb = curP; + i = curPe; + while (i-- > 0) + updateCell(*pb++); + + if (displayInt > 0 && (cycle % displayInt) == 0) + displayFn(this); + + // swap priority blocks curP <=> nextP + curPe = nextPe; + nextPe = 0; + pb = curP; // swap buffers + curP = nextP; + nextP = pb; + + // see if we're done with this priority level + if (curPe == 0) + { + curT += priInc; // increment priority threshold + curPe = overPe; // set current to overflow block + overPe = 0; + pb = curP; // swap buffers + curP = overP; + overP = pb; + } + + // check if we've hit the Start cell + if (atStart) + if (potarr[startCell] < POT_HIGH) + break; + } + + ROS_DEBUG("[NavFn] Used %d cycles, %d cells visited (%d%%), priority buf max %d\n", + cycle,nc,(int)((nc*100.0)/(ns-nobs)),nwv); + + if (cycle < cycles) return true; // finished up here + else return false; + } + + + // + // main propagation function + // A* method, best-first + // uses Euclidean distance heuristic + // runs for a specified number of cycles, + // or until it runs out of cells to update, + // or until the Start cell is found (atStart = true) + // + + bool + NavFn::propNavFnAstar(int cycles) + { + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set initial threshold, based on distance + float dist = hypot(goal[0]-start[0], goal[1]-start[1])*(float)COST_NEUTRAL; + curT = dist + curT; + + // set up start cell + int startCell = start[1]*nx + start[0]; + + // do main cycle + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (curPe == 0 && nextPe == 0) // priority blocks empty + break; + + // stats + nc += curPe; + if (curPe > nwv) + nwv = curPe; + + // reset pending flags on current priority buffer + int *pb = curP; + int i = curPe; + while (i-- > 0) + pending[*(pb++)] = false; + + // process current priority buffer + pb = curP; + i = curPe; + while (i-- > 0) + updateCellAstar(*pb++); + + if (displayInt > 0 && (cycle % displayInt) == 0) + displayFn(this); + + // swap priority blocks curP <=> nextP + curPe = nextPe; + nextPe = 0; + pb = curP; // swap buffers + curP = nextP; + nextP = pb; + + // see if we're done with this priority level + if (curPe == 0) + { + curT += priInc; // increment priority threshold + curPe = overPe; // set current to overflow block + overPe = 0; + pb = curP; // swap buffers + curP = overP; + overP = pb; + } + + // check if we've hit the Start cell + if (potarr[startCell] < POT_HIGH) + break; + + } + + last_path_cost_ = potarr[startCell]; + + ROS_DEBUG("[NavFn] Used %d cycles, %d cells visited (%d%%), priority buf max %d\n", + cycle,nc,(int)((nc*100.0)/(ns-nobs)),nwv); + + + if (potarr[startCell] < POT_HIGH) return true; // finished up here + else return false; + } + + + float NavFn::getLastPathCost() + { + return last_path_cost_; + } + + + // + // Path construction + // Find gradient at array points, interpolate path + // Use step size of pathStep, usually 0.5 pixel + // + // Some sanity checks: + // 1. Stuck at same index position + // 2. Doesn't get near goal + // 3. Surrounded by high potentials + // + + int + NavFn::calcPath(int n, int *st) + { + // test write + //savemap("test"); + + // check path arrays + if (npathbuf < n) + { + if (pathx) delete [] pathx; + if (pathy) delete [] pathy; + pathx = new float[n]; + pathy = new float[n]; + npathbuf = n; + } + + // set up start position at cell + // st is always upper left corner for 4-point bilinear interpolation + if (st == NULL) st = start; + int stc = st[1]*nx + st[0]; + + // set up offset + float dx=0; + float dy=0; + npath = 0; + + // go for cycles at most + for (int i=0; i ns-nx) // would be out of bounds + { + ROS_DEBUG("[PathCalc] Out of bounds"); + return 0; + } + + // add to path + pathx[npath] = stc%nx + dx; + pathy[npath] = stc/nx + dy; + npath++; + + bool oscillation_detected = false; + if( npath > 2 && + pathx[npath-1] == pathx[npath-3] && + pathy[npath-1] == pathy[npath-3] ) + { + ROS_DEBUG("[PathCalc] oscillation detected, attempting fix."); + oscillation_detected = true; + } + + int stcnx = stc+nx; + int stcpx = stc-nx; + + // check for potentials at eight positions near cell + if (potarr[stc] >= POT_HIGH || + potarr[stc+1] >= POT_HIGH || + potarr[stc-1] >= POT_HIGH || + potarr[stcnx] >= POT_HIGH || + potarr[stcnx+1] >= POT_HIGH || + potarr[stcnx-1] >= POT_HIGH || + potarr[stcpx] >= POT_HIGH || + potarr[stcpx+1] >= POT_HIGH || + potarr[stcpx-1] >= POT_HIGH || + oscillation_detected) + { + ROS_DEBUG("[Path] Pot fn boundary, following grid (%0.1f/%d)", potarr[stc], npath); + // check eight neighbors to find the lowest + int minc = stc; + int minp = potarr[stc]; + int st = stcpx - 1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stc-1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stc+1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stcnx-1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + stc = minc; + dx = 0; + dy = 0; + + ROS_DEBUG("[Path] Pot: %0.1f pos: %0.1f,%0.1f", + potarr[stc], pathx[npath-1], pathy[npath-1]); + + if (potarr[stc] >= POT_HIGH) + { + ROS_DEBUG("[PathCalc] No path found, high potential"); + //savemap("navfn_highpot"); + return 0; + } + } + + // have a good gradient here + else + { + + // get grad at four positions near cell + gradCell(stc); + gradCell(stc+1); + gradCell(stcnx); + gradCell(stcnx+1); + + + // get interpolated gradient + float x1 = (1.0-dx)*gradx[stc] + dx*gradx[stc+1]; + float x2 = (1.0-dx)*gradx[stcnx] + dx*gradx[stcnx+1]; + float x = (1.0-dy)*x1 + dy*x2; // interpolated x + float y1 = (1.0-dx)*grady[stc] + dx*grady[stc+1]; + float y2 = (1.0-dx)*grady[stcnx] + dx*grady[stcnx+1]; + float y = (1.0-dy)*y1 + dy*y2; // interpolated y + + // show gradients + ROS_DEBUG("[Path] %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f; final x=%.3f, y=%.3f\n", + gradx[stc], grady[stc], gradx[stc+1], grady[stc+1], + gradx[stcnx], grady[stcnx], gradx[stcnx+1], grady[stcnx+1], + x, y); + + // check for zero gradient, failed + if (x == 0.0 && y == 0.0) + { + ROS_DEBUG("[PathCalc] Zero gradient"); + return 0; + } + + // move in the right direction + float ss = pathStep/hypot(x, y); + dx += x*ss; + dy += y*ss; + + // check for overflow + if (dx > 1.0) { stc++; dx -= 1.0; } + if (dx < -1.0) { stc--; dx += 1.0; } + if (dy > 1.0) { stc+=nx; dy -= 1.0; } + if (dy < -1.0) { stc-=nx; dy += 1.0; } + + } + + // ROS_INFO("[Path] Pot: %0.1f grad: %0.1f,%0.1f pos: %0.1f,%0.1f\n", + // potarr[stc], x, y, pathx[npath-1], pathy[npath-1]); + } + + // return npath; // out of cycles, return failure + ROS_DEBUG("[PathCalc] No path found, path too long"); + //savemap("navfn_pathlong"); + return 0; // out of cycles, return failure + } + + + // + // gradient calculations + // + + // calculate gradient at a cell + // positive value are to the right and down + float + NavFn::gradCell(int n) + { + if (gradx[n]+grady[n] > 0.0) // check this cell + return 1.0; + + if (n < nx || n > ns-nx) // would be out of bounds + return 0.0; + + float cv = potarr[n]; + float dx = 0.0; + float dy = 0.0; + + // check for in an obstacle + if (cv >= POT_HIGH) + { + if (potarr[n-1] < POT_HIGH) + dx = -COST_OBS; + else if (potarr[n+1] < POT_HIGH) + dx = COST_OBS; + + if (potarr[n-nx] < POT_HIGH) + dy = -COST_OBS; + else if (potarr[n+nx] < POT_HIGH) + dy = COST_OBS; + } + + else // not in an obstacle + { + // dx calc, average to sides + if (potarr[n-1] < POT_HIGH) + dx += potarr[n-1]- cv; + if (potarr[n+1] < POT_HIGH) + dx += cv - potarr[n+1]; + + // dy calc, average to sides + if (potarr[n-nx] < POT_HIGH) + dy += potarr[n-nx]- cv; + if (potarr[n+nx] < POT_HIGH) + dy += cv - potarr[n+nx]; + } + + // normalize + float norm = hypot(dx, dy); + if (norm > 0) + { + norm = 1.0/norm; + gradx[n] = norm*dx; + grady[n] = norm*dy; + } + return norm; + } + + + // + // display function setup + // is the number of cycles to wait before displaying, + // use 0 to turn it off + + void + NavFn::display(void fn(NavFn *nav), int n) + { + displayFn = fn; + displayInt = n; + } + + + // + // debug writes + // saves costmap and start/goal + // + + void + NavFn::savemap(const char *fname) + { + char fn[4096]; + + ROS_DEBUG("[NavFn] Saving costmap and start/goal points"); + // write start and goal points + sprintf(fn,"%s.txt",fname); + FILE *fp = fopen(fn,"w"); + if (!fp) + { + ROS_WARN("Can't open file %s", fn); + return; + } + fprintf(fp,"Goal: %d %d\nStart: %d %d\n",goal[0],goal[1],start[0],start[1]); + fclose(fp); + + // write cost array + if (!costarr) return; + sprintf(fn,"%s.pgm",fname); + fp = fopen(fn,"wb"); + if (!fp) + { + ROS_WARN("Can't open file %s", fn); + return; + } + fprintf(fp,"P5\n%d\n%d\n%d\n", nx, ny, 0xff); + fwrite(costarr,1,nx*ny,fp); + fclose(fp); + } +}; diff --git a/src/navigation/navfn/src/navfn_node.cpp b/src/navigation/navfn/src/navfn_node.cpp new file mode 100644 index 0000000..4843997 --- /dev/null +++ b/src/navigation/navfn/src/navfn_node.cpp @@ -0,0 +1,131 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Bhaskara Marthi +*********************************************************************/ +#include +#include +#include +#include +#include + +namespace cm=costmap_2d; +namespace rm=geometry_msgs; + +using std::vector; +using rm::PoseStamped; +using std::string; +using cm::Costmap2D; +using cm::Costmap2DROS; + +namespace navfn { + +class NavfnWithCostmap : public NavfnROS +{ +public: + NavfnWithCostmap(string name, Costmap2DROS* cmap); + bool makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp); + +private: + void poseCallback(const rm::PoseStamped::ConstPtr& goal); + Costmap2DROS* cmap_; + ros::ServiceServer make_plan_service_; + ros::Subscriber pose_sub_; +}; + + +bool NavfnWithCostmap::makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp) +{ + vector path; + + req.start.header.frame_id = "map"; + req.goal.header.frame_id = "map"; + bool success = makePlan(req.start, req.goal, path); + resp.plan_found = success; + if (success) { + resp.path = path; + } + + return true; +} + +void NavfnWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) { + geometry_msgs::PoseStamped global_pose; + cmap_->getRobotPose(global_pose); + vector path; + makePlan(global_pose, *goal, path); +} + + +NavfnWithCostmap::NavfnWithCostmap(string name, Costmap2DROS* cmap) : + NavfnROS(name, cmap) +{ + ros::NodeHandle private_nh("~"); + cmap_ = cmap; + make_plan_service_ = private_nh.advertiseService("make_plan", &NavfnWithCostmap::makePlanService, this); + pose_sub_ = private_nh.subscribe("goal", 1, &NavfnWithCostmap::poseCallback, this); +} + +} // namespace + +int main (int argc, char** argv) +{ + ros::init(argc, argv, "global_planner"); + + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + costmap_2d::Costmap2DROS lcr("costmap", buffer); + + navfn::NavfnWithCostmap navfn("navfn_planner", &lcr); + + ros::spin(); + return 0; +} + + + + + + + + + + + + + + + + diff --git a/src/navigation/navfn/src/navfn_ros.cpp b/src/navigation/navfn/src/navfn_ros.cpp new file mode 100644 index 0000000..d78ca6d --- /dev/null +++ b/src/navigation/navfn/src/navfn_ros.cpp @@ -0,0 +1,432 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(navfn::NavfnROS, nav_core::BaseGlobalPlanner) + +namespace navfn { + + NavfnROS::NavfnROS() + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) {} + + NavfnROS::NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros) + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) { + //initialize the planner + initialize(name, costmap_ros); + } + + NavfnROS::NavfnROS(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame) + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) { + //initialize the planner + initialize(name, costmap, global_frame); + } + + void NavfnROS::initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame){ + if(!initialized_){ + costmap_ = costmap; + global_frame_ = global_frame; + planner_ = boost::shared_ptr(new NavFn(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY())); + + ros::NodeHandle private_nh("~/" + name); + + plan_pub_ = private_nh.advertise("plan", 1); + + private_nh.param("visualize_potential", visualize_potential_, false); + + //if we're going to visualize the potential array we need to advertise + if(visualize_potential_) + potarr_pub_ = private_nh.advertise("potential", 1); + + private_nh.param("allow_unknown", allow_unknown_, true); + private_nh.param("planner_window_x", planner_window_x_, 0.0); + private_nh.param("planner_window_y", planner_window_y_, 0.0); + private_nh.param("default_tolerance", default_tolerance_, 0.0); + + make_plan_srv_ = private_nh.advertiseService("make_plan", &NavfnROS::makePlanService, this); + + initialized_ = true; + } + else + ROS_WARN("This planner has already been initialized, you can't call it twice, doing nothing"); + } + + void NavfnROS::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){ + initialize(name, costmap_ros->getCostmap(), costmap_ros->getGlobalFrameID()); + } + + bool NavfnROS::validPointPotential(const geometry_msgs::Point& world_point){ + return validPointPotential(world_point, default_tolerance_); + } + + bool NavfnROS::validPointPotential(const geometry_msgs::Point& world_point, double tolerance){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + double resolution = costmap_->getResolution(); + geometry_msgs::Point p; + p = world_point; + + p.y = world_point.y - tolerance; + + while(p.y <= world_point.y + tolerance){ + p.x = world_point.x - tolerance; + while(p.x <= world_point.x + tolerance){ + double potential = getPointPotential(p); + if(potential < POT_HIGH){ + return true; + } + p.x += resolution; + } + p.y += resolution; + } + + return false; + } + + double NavfnROS::getPointPotential(const geometry_msgs::Point& world_point){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return -1.0; + } + + unsigned int mx, my; + if(!costmap_->worldToMap(world_point.x, world_point.y, mx, my)) + return DBL_MAX; + + unsigned int index = my * planner_->nx + mx; + return planner_->potarr[index]; + } + + bool NavfnROS::computePotential(const geometry_msgs::Point& world_point){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //make sure to resize the underlying array that Navfn uses + planner_->setNavArr(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY()); + planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_); + + unsigned int mx, my; + if(!costmap_->worldToMap(world_point.x, world_point.y, mx, my)) + return false; + + int map_start[2]; + map_start[0] = 0; + map_start[1] = 0; + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_start); + planner_->setGoal(map_goal); + + return planner_->calcNavFnDijkstra(); + } + + void NavfnROS::clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //set the associated costs in the cost map to be free + costmap_->setCost(mx, my, costmap_2d::FREE_SPACE); + } + + bool NavfnROS::makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp){ + makePlan(req.start, req.goal, resp.plan.poses); + + resp.plan.header.stamp = ros::Time::now(); + resp.plan.header.frame_id = global_frame_; + + return true; + } + + void NavfnROS::mapToWorld(double mx, double my, double& wx, double& wy) { + wx = costmap_->getOriginX() + mx * costmap_->getResolution(); + wy = costmap_->getOriginY() + my * costmap_->getResolution(); + } + + bool NavfnROS::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan){ + return makePlan(start, goal, default_tolerance_, plan); + } + + bool NavfnROS::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, double tolerance, std::vector& plan){ + boost::mutex::scoped_lock lock(mutex_); + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + ros::NodeHandle n; + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if(goal.header.frame_id != global_frame_){ + ROS_ERROR("The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), goal.header.frame_id.c_str()); + return false; + } + + if(start.header.frame_id != global_frame_){ + ROS_ERROR("The start pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), start.header.frame_id.c_str()); + return false; + } + + double wx = start.pose.position.x; + double wy = start.pose.position.y; + + unsigned int mx, my; + if(!costmap_->worldToMap(wx, wy, mx, my)){ + ROS_WARN("The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?"); + return false; + } + + //clear the starting cell within the costmap because we know it can't be an obstacle + clearRobotCell(start, mx, my); + + //make sure to resize the underlying array that Navfn uses + planner_->setNavArr(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY()); + planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_); + + int map_start[2]; + map_start[0] = mx; + map_start[1] = my; + + wx = goal.pose.position.x; + wy = goal.pose.position.y; + + if(!costmap_->worldToMap(wx, wy, mx, my)){ + if(tolerance <= 0.0){ + ROS_WARN_THROTTLE(1.0, "The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + mx = 0; + my = 0; + } + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_goal); + planner_->setGoal(map_start); + + //bool success = planner_->calcNavFnAstar(); + planner_->calcNavFnDijkstra(true); + + double resolution = costmap_->getResolution(); + geometry_msgs::PoseStamped p, best_pose; + p = goal; + + bool found_legal = false; + double best_sdist = DBL_MAX; + + p.pose.position.y = goal.pose.position.y - tolerance; + + while(p.pose.position.y <= goal.pose.position.y + tolerance){ + p.pose.position.x = goal.pose.position.x - tolerance; + while(p.pose.position.x <= goal.pose.position.x + tolerance){ + double potential = getPointPotential(p.pose.position); + double sdist = sq_distance(p, goal); + if(potential < POT_HIGH && sdist < best_sdist){ + best_sdist = sdist; + best_pose = p; + found_legal = true; + } + p.pose.position.x += resolution; + } + p.pose.position.y += resolution; + } + + if(found_legal){ + //extract the plan + if(getPlanFromPotential(best_pose, plan)){ + //make sure the goal we push on has the same timestamp as the rest of the plan + geometry_msgs::PoseStamped goal_copy = best_pose; + goal_copy.header.stamp = ros::Time::now(); + plan.push_back(goal_copy); + } + else{ + ROS_ERROR("Failed to get a plan from potential when a legal potential was found. This shouldn't happen."); + } + } + + if (visualize_potential_) + { + // Publish the potentials as a PointCloud2 + sensor_msgs::PointCloud2 cloud; + cloud.width = 0; + cloud.height = 0; + cloud.header.stamp = ros::Time::now(); + cloud.header.frame_id = global_frame_; + sensor_msgs::PointCloud2Modifier cloud_mod(cloud); + cloud_mod.setPointCloud2Fields(4, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "pot", 1, sensor_msgs::PointField::FLOAT32); + cloud_mod.resize(planner_->ny * planner_->nx); + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + + PotarrPoint pt; + float *pp = planner_->potarr; + double pot_x, pot_y; + for (unsigned int i = 0; i < (unsigned int)planner_->ny*planner_->nx ; i++) + { + if (pp[i] < 10e7) + { + mapToWorld(i%planner_->nx, i/planner_->nx, pot_x, pot_y); + iter_x[0] = pot_x; + iter_x[1] = pot_y; + iter_x[2] = pp[i]/pp[planner_->start[1]*planner_->nx + planner_->start[0]]*20; + iter_x[3] = pp[i]; + ++iter_x; + } + } + potarr_pub_.publish(cloud); + } + + //publish the plan for visualization purposes + publishPlan(plan, 0.0, 1.0, 0.0, 0.0); + + return !plan.empty(); + } + + void NavfnROS::publishPlan(const std::vector& path, double r, double g, double b, double a){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //create a message for the plan + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + + if(path.empty()) { + //still set a valid frame so visualization won't hit transform issues + gui_path.header.frame_id = global_frame_; + gui_path.header.stamp = ros::Time::now(); + } else { + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + } + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for(unsigned int i=0; i < path.size(); i++){ + gui_path.poses[i] = path[i]; + } + + plan_pub_.publish(gui_path); + } + + bool NavfnROS::getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector& plan){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if(goal.header.frame_id != global_frame_){ + ROS_ERROR("The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), goal.header.frame_id.c_str()); + return false; + } + + double wx = goal.pose.position.x; + double wy = goal.pose.position.y; + + //the potential has already been computed, so we won't update our copy of the costmap + unsigned int mx, my; + if(!costmap_->worldToMap(wx, wy, mx, my)){ + ROS_WARN_THROTTLE(1.0, "The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_goal); + + planner_->calcPath(costmap_->getSizeInCellsX() * 4); + + //extract the plan + float *x = planner_->getPathX(); + float *y = planner_->getPathY(); + int len = planner_->getPathLen(); + ros::Time plan_time = ros::Time::now(); + + for(int i = len - 1; i >= 0; --i){ + //convert the plan to world coordinates + double world_x, world_y; + mapToWorld(x[i], y[i], world_x, world_y); + + geometry_msgs::PoseStamped pose; + pose.header.stamp = plan_time; + pose.header.frame_id = global_frame_; + pose.pose.position.x = world_x; + pose.pose.position.y = world_y; + pose.pose.position.z = 0.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + pose.pose.orientation.w = 1.0; + plan.push_back(pose); + } + + //publish the plan for visualization purposes + publishPlan(plan, 0.0, 1.0, 0.0, 0.0); + return !plan.empty(); + } +}; diff --git a/src/navigation/navfn/src/navtest/navtest.cpp b/src/navigation/navfn/src/navtest/navtest.cpp new file mode 100644 index 0000000..266d23d --- /dev/null +++ b/src/navigation/navfn/src/navtest/navtest.cpp @@ -0,0 +1,309 @@ +// +// simple timing test of the nav fn planner +// expects a cost map in maps/willow-full-0.05.pgm +// + +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif +#include +#include +#include + +#include +#include + +#include "navwin.h" + +using namespace navfn; + +#ifdef __APPLE__ +# include +#else +extern "C" { +#include +// pgm.h is not very friendly with system headers... need to undef max() and min() afterwards +#include +#undef max +#undef min +} +#endif + +int goal[2]; +int start[2]; + +double get_ms() +{ + struct timeval t0; + gettimeofday(&t0,NULL); + double ret = t0.tv_sec * 1000.0; + ret += ((double)t0.tv_usec)*0.001; + return ret; +} + +NavWin *nwin; + +void +dispPot(NavFn *nav) +{ + nwin->drawPot(nav); + Fl::check(); +} + + +// is true for ROS-generated raw cost maps +COSTTYPE *readPGM(const char *fname, int *width, int *height, bool raw = false); + +int main(int argc, char **argv) +{ + int dispn = 0; + + int res = 50; // 50 mm resolution + double size = 40.0; // 40 m on a side + int inc = 2*COST_NEUTRAL; // thin wavefront + bool got_start_goal = false; + std::string pgm_file_name; + + start[0] = 420; + start[1] = 420; + + goal[0] = 580; + goal[1] = 400; + + if (argc > 1) + { + pgm_file_name = std::string( argv[ 1 ]) + ".pgm"; + std::string txt_file_name = std::string( argv[ 1 ]) + ".txt"; + + std::ifstream txt_stream( txt_file_name.c_str() ); + if( txt_stream ) + { + std::string name; + int x, y; + for( int i = 0; i < 2; i++ ) + { + txt_stream >> name >> x >> y; + if( txt_stream && name == "Goal:" ) + { + goal[0] = x; + goal[1] = y; + } + else if( txt_stream && name == "Start:" ) + { + start[0] = x; + start[1] = y; + } + } + got_start_goal = true; + printf( "start is %d, %d, goal is %d, %d.\n", start[ 0 ], start[ 1 ], goal[ 0 ], goal[ 1 ]); + } + else + { + printf( "Failed to open file %s, assuming you didn't want to open a file.\n", txt_file_name.c_str() ); + } + } + + // get resolution (mm) and perhaps size (m) + if( !got_start_goal ) + { + if (argc > 1) + res = atoi(argv[1]); + + if (argc > 2) + size = atoi(argv[2]); + + if (argc > 3) + inc = atoi(argv[3]); + + if (argc > 4) + dispn = atoi(argv[4]); + } + NavFn *nav; + + // try reading in a file + int sx,sy; + COSTTYPE *cmap = NULL; + cmap = readPGM( pgm_file_name.c_str(),&sx,&sy,true); + if (cmap) + { + nav = new NavFn(sx,sy); + + + } + else + { + sx = (int)((.001 + size) / (res*.001)); + sy = sx; + nav = new NavFn(sx,sy); // size in pixels + goal[0] = sx-10; + goal[1] = sy/2; + start[0] = 20; + start[1] = sy/2; + } + + // display + nwin = new NavWin(sx,sy,"Potential Field"); + nwin->maxval = 2*sx*COST_NEUTRAL; + Fl::visual(FL_RGB); + nwin->show(); + + + // set goal and robot poses + int *gg = goal; + nav->setGoal(gg); + int *ss = start; + nav->setStart(ss); + + // set display function + nav->display(dispPot,dispn); + + + nav->priInc = inc; + printf("[NavTest] priority increment: %d\n", inc); + + double t0 = get_ms(); + // set up cost map from file, if it exists + if (cmap) + { + // nav->setCostMap(cmap); + memcpy(nav->costarr,cmap,sx*sy); + nav->setupNavFn(true); + } + else + { + nav->setupNavFn(false); + } + double t1 = get_ms(); + // nav->calcNavFnAstar(); + nav->calcNavFnDijkstra(true); + double t2 = get_ms(); + printf("Setup: %d ms Plan: %d ms Total: %d ms\n", + (int)(t1-t0), (int)(t2-t1), (int)(t2-t0)); + + // draw potential field + float mmax = 0.0; + float *pp = nav->potarr; + int ntot = 0; + for (int i=0; iny*nav->nx; i++, pp++) + { + if (*pp < 10e7 && *pp > mmax) + mmax = *pp; + if (*pp > 10e7) + ntot++; // number of uncalculated cells + } + printf("[NavFn] Cells not touched: %d/%d\n", ntot, nav->nx*nav->ny); + nwin->maxval = 4*mmax/3/15; + dispPot(nav); + while (Fl::check()) { + if( Fl::event_key( 'q' )) + { + break; + } + } + + return 0; +} + + +// read in a PGM file for obstacles +// no expansion yet... + +static int CS; + +void +setcostobs(COSTTYPE *cmap, int n, int w) +{ + CS = 11; + for (int i=-CS/2; i= 0; --jj) + { + int v = row[jj]; + cmap[ii*ncols+jj] = v; + if (v >= COST_OBS_ROS) + otot++; + if (v == 0) + ftot++; + } + } + else + { + ftot = ncols*nrows; + for (int jj(ncols - 1); jj >= 0; --jj) + { + if (row[jj] < unknown_gray && ii < nrows-7 && ii > 7) + { + setcostobs(cmap,ii*ncols+jj,ncols); + otot++; + ftot--; + } + else if (row[jj] <= unknown_gray) + { + setcostunk(cmap,ii*ncols+jj,ncols); + utot++; + ftot--; + } + } + } + } + printf("[NavTest] Found %d obstacle cells, %d free cells, %d unknown cells\n", otot, ftot, utot); + pgm_freerow(row); + *width = ncols; + *height = nrows; + return cmap; +} diff --git a/src/navigation/navfn/src/navtest/navwin.cpp b/src/navigation/navfn/src/navtest/navwin.cpp new file mode 100644 index 0000000..a6c49eb --- /dev/null +++ b/src/navigation/navfn/src/navtest/navwin.cpp @@ -0,0 +1,292 @@ +// +// simple timing test of the nav fn planner +// + +#include +#include "navwin.h" + +namespace navfn { +NavWin::NavWin(int w, int h, const char *name) + : Fl_Double_Window(w,h,name) +{ + nw = w; + nh = h; + dec = 1; + maxval = 90*1000; + im = NULL; + pw = w; + ph = h; + pce = pne = poe = 0; + pc = pn = po = NULL; + pathlen = pathbuflen = 0; + path = NULL; +} + +NavWin::~NavWin() +{ +} + +void +NavWin::drawPot(NavFn *nav) +{ + float *pot = nav->potarr; + COSTTYPE *cst = nav->costarr; + int width = nav->nx; + int height = nav->ny; + + // params + pw = width; + ph = height; + + // figure out decimation or expansion to fit + dec = 1; + inc = 1; + + if (width >= nw/2) + { + int ww = width; + while (ww > nw) + { + dec++; + ww = width/dec; + } + + int hh = height/dec; + while (hh > nh) + { + dec++; + hh = height/dec; + } + + if (im == NULL) + im = new uchar[nw*nh*3]; + + + // draw potential + for (int i=0; i= COST_OBS) + { + *ii = 120; + *(ii+1) = 60; + *(ii+2) = 60; + } + } + } + + } + + else // expand + { + int ww = width; + while (ww < nw/2) + { + inc++; + ww = width*inc; + } + + int hh = height*inc; + while (hh < nh/2) + { + inc++; + hh = height*inc; + } + + if (im == NULL) + im = new uchar[nw*nh*3]; + + for (int i=0; i maxval) + v = 255; + else + v = (int)((*pp/maxval) * 255.0); + for (int k=0; kcurPe; + pc = new int[pce]; + memcpy(pc, nav->curP, pce*sizeof(int)); + + if (pn) + delete [] pn; + pne = nav->nextPe; + pn = new int[pne]; + memcpy(pn, nav->nextP, pne*sizeof(int)); + + if (po) + delete [] po; + poe = nav->overPe; + po = new int[poe]; + memcpy(po, nav->overP, poe*sizeof(int)); + + // start and goal + goal[0] = nav->goal[0]; + goal[1] = nav->goal[1]; + start[0] = nav->start[0]; + start[1] = nav->start[1]; + + // path + if (nav->npath > 0) + { + pathlen = nav->npath; + if (pathbuflen < pathlen) + { + pathbuflen = pathlen; + if (path) delete [] path; + path = new int[pathbuflen]; + } + for (int i=0; ipathy[i])+(int)(nav->pathx[i]); + } + + drawOverlay(); + + redraw(); +} + + +void +NavWin::drawOverlay() +{ + if (inc == 1) // decimation + { + fl_color(255,0,0); + if (pce > 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) // decimation or equal pixels + { + int y = path[0]/pw; + int x = path[0]%pw; + for (int i=1; i +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace navfn { + class NavWin + : public Fl_Double_Window + { + public: + NavWin(int w, int h, const char *name); + ~NavWin(); + + int nw,nh; // width and height of image + int pw,ph; // width and height of pot field + int dec, inc; // decimation or expansion for display + + float maxval; // max potential value + void drawPot(NavFn *nav); // draw everything... + + void drawOverlay(); + + uchar *im; // image for drawing + int *pc, *pn, *po; // priority buffers + int pce, pne, poe; // buffer sizes + int goal[2]; + int start[2]; + int *path; // path buffer, cell indices + int pathlen; // how many we have + int pathbuflen; // how big the path buffer is + + void draw(); // draw the image + }; +}; diff --git a/src/navigation/navfn/src/read_pgm_costmap.cpp b/src/navigation/navfn/src/read_pgm_costmap.cpp new file mode 100644 index 0000000..27f861a --- /dev/null +++ b/src/navigation/navfn/src/read_pgm_costmap.cpp @@ -0,0 +1,141 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include +#include +#include + +#ifdef __APPLE__ +# include +#else +extern "C" { +#include +// pgm.h is not very friendly with system headers... need to undef max() and min() afterwards +#include +#undef max +#undef min +} +#endif + +void +setcostobs(COSTTYPE *cmap, int n, int w) +{ + int CS = 11; + for (int i=-CS/2; i= 0; --jj) + { + int v = row[jj]; + cmap[ii*ncols+jj] = v; + if (v >= COST_OBS_ROS) + otot++; + if (v == 0) + ftot++; + } + } + else + { + ftot = ncols*nrows; + for (int jj(ncols - 1); jj >= 0; --jj) + { + if (row[jj] < unknown_gray && ii < nrows-7 && ii > 7) + { + setcostobs(cmap,ii*ncols+jj,ncols); + otot++; + ftot--; + } + else if (row[jj] <= unknown_gray) + { + setcostunk(cmap,ii*ncols+jj,ncols); + utot++; + ftot--; + } + } + } + } + printf("readPGM() Found %d obstacle cells, %d free cells, %d unknown cells\n", otot, ftot, utot); + pgm_freerow(row); + *width = ncols; + *height = nrows; + return cmap; +} diff --git a/src/navigation/navfn/srv/MakeNavPlan.srv b/src/navigation/navfn/srv/MakeNavPlan.srv new file mode 100644 index 0000000..244600b --- /dev/null +++ b/src/navigation/navfn/srv/MakeNavPlan.srv @@ -0,0 +1,9 @@ +geometry_msgs/PoseStamped start +geometry_msgs/PoseStamped goal +--- + +uint8 plan_found +string error_message + +# if plan_found is true, this is an array of waypoints from start to goal, where the first one equals start and the last one equals goal +geometry_msgs/PoseStamped[] path diff --git a/src/navigation/navfn/srv/SetCostmap.srv b/src/navigation/navfn/srv/SetCostmap.srv new file mode 100644 index 0000000..27299b8 --- /dev/null +++ b/src/navigation/navfn/srv/SetCostmap.srv @@ -0,0 +1,4 @@ +uint8[] costs +uint16 height +uint16 width +--- \ No newline at end of file diff --git a/src/navigation/navfn/test/CMakeLists.txt b/src/navigation/navfn/test/CMakeLists.txt new file mode 100644 index 0000000..1bc039f --- /dev/null +++ b/src/navigation/navfn/test/CMakeLists.txt @@ -0,0 +1,2 @@ +catkin_add_gtest(path_calc_test path_calc_test.cpp ../src/read_pgm_costmap.cpp) +target_link_libraries(path_calc_test navfn netpbm) diff --git a/src/navigation/navfn/test/path_calc_test.cpp b/src/navigation/navfn/test/path_calc_test.cpp new file mode 100644 index 0000000..067ff02 --- /dev/null +++ b/src/navigation/navfn/test/path_calc_test.cpp @@ -0,0 +1,160 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +#include +#include +#include +#include +#include + +// Load a willow garage costmap and return a NavFn instance using it. +// If the costmap file fails to load, returns NULL. +navfn::NavFn* make_willow_nav() +{ + int sx,sy; + std::string path = ros::package::getPath( ROS_PACKAGE_NAME ) + "/test/willow_costmap.pgm"; + + COSTTYPE *cmap = readPGM( path.c_str(), &sx, &sy, true ); + if( cmap == NULL ) + { + return NULL; + } + navfn::NavFn* nav = new navfn::NavFn(sx,sy); + + nav->priInc = 2*COST_NEUTRAL; // thin wavefront + + memcpy( nav->costarr, cmap, sx*sy ); + + return nav; +} + +void print_neighborhood_of_last_path_entry( navfn::NavFn* nav ) +{ + printf("last path entries:\n"); + for( int i = nav->npath - 4; i < nav->npath; i++ ) + { + printf("%.3f, %.3f\n", nav->pathx[ i ], nav->pathy[ i ]); + } + printf("potential field neighborhood of last entry:\n"); + int xf = nav->pathx[ nav->npath-1 ]; + int yf = nav->pathy[ nav->npath-1 ]; + + printf( " " ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %6d", x ); + } + printf( "\n" ); + + for( int y = yf - 2; y <= yf + 2; y++ ) + { + printf( "%5d:", y ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->potarr[ y * nav->nx + x ] ); + } + printf( "\n" ); + } + + printf("gradient neighborhood of last entry:\n"); + printf( " " ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %6d", x ); + } + printf( "\n" ); + + for( int y = yf - 2; y <= yf + 2; y++ ) + { + printf( "%5d x:", y ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->gradx[ y * nav->nx + x ] ); + } + printf( "\n" ); + + printf( " y:" ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->grady[ y * nav->nx + x ] ); + } + printf( "\n" ); + } +} + +TEST(PathCalc, oscillate_in_pinch_point) +{ + navfn::NavFn* nav = make_willow_nav(); + ASSERT_TRUE( nav != NULL ); + + int goal[2]; + int start[2]; + + start[0] = 428; + start[1] = 746; + + goal[0] = 350; + goal[1] = 450; + + nav->setGoal( goal ); + nav->setStart( start ); + + bool plan_success = nav->calcNavFnDijkstra( true ); + EXPECT_TRUE( plan_success ); + if( !plan_success ) + { + print_neighborhood_of_last_path_entry( nav ); + } +} + +TEST(PathCalc, easy_nav_should_always_work) +{ + navfn::NavFn* nav = make_willow_nav(); + ASSERT_TRUE( nav != NULL ); + + int goal[2]; + int start[2]; + + start[0] = 350; + start[1] = 400; + + goal[0] = 350; + goal[1] = 450; + + nav->setGoal( goal ); + nav->setStart( start ); + + EXPECT_TRUE( nav->calcNavFnDijkstra( true )); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/navigation/navfn/test/willow_costmap.pgm b/src/navigation/navfn/test/willow_costmap.pgm new file mode 100644 index 0000000..9be6775 --- /dev/null +++ b/src/navigation/navfn/test/willow_costmap.pgm @@ -0,0 +1,5 @@ +P5 +1132 +1217 +255 +�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������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\ No newline at end of file diff --git a/src/navigation/navigation/CHANGELOG.rst b/src/navigation/navigation/CHANGELOG.rst new file mode 100644 index 0000000..7df9273 --- /dev/null +++ b/src/navigation/navigation/CHANGELOG.rst @@ -0,0 +1,102 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package navigation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* remove robot_pose_ekf, see `#701 `_ +* Contributors: Michael Ferguson + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Contributors: Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- +* add global planner run depend in meta package. +* Contributors: Jihoon Lee + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/navigation/CMakeLists.txt b/src/navigation/navigation/CMakeLists.txt new file mode 100644 index 0000000..5d6acb2 --- /dev/null +++ b/src/navigation/navigation/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(navigation) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/src/navigation/navigation/README.rst b/src/navigation/navigation/README.rst new file mode 100644 index 0000000..1bed1a3 --- /dev/null +++ b/src/navigation/navigation/README.rst @@ -0,0 +1,11 @@ +ROS Navigation Stack +-------------------- + +A 2D navigation stack that takes in information from odometry, sensor +streams, and a goal pose and outputs safe velocity commands that are sent +to a mobile base. + +Related stacks: + + * http://github.com/ros-planning/navigation_tutorials + * http://github.com/ros-planning/navigation_experimental diff --git a/src/navigation/navigation/package.xml b/src/navigation/navigation/package.xml new file mode 100644 index 0000000..1179a5b --- /dev/null +++ b/src/navigation/navigation/package.xml @@ -0,0 +1,41 @@ + + + + navigation + 1.17.2 + + A 2D navigation stack that takes in information from odometry, sensor + streams, and a goal pose and outputs safe velocity commands that are sent + to a mobile base. + + Michael Ferguson + David V. Lu!! + Aaron Hoy + contradict@gmail.com + Eitan Marder-Eppstein + BSD,LGPL,LGPL (amcl) + http://wiki.ros.org/navigation + + catkin + + amcl + base_local_planner + carrot_planner + clear_costmap_recovery + costmap_2d + dwa_local_planner + fake_localization + global_planner + map_server + move_base + move_base_msgs + move_slow_and_clear + navfn + nav_core + rotate_recovery + voxel_grid + + + + + diff --git a/src/navigation/rotate_recovery/CHANGELOG.rst b/src/navigation/rotate_recovery/CHANGELOG.rst new file mode 100644 index 0000000..fe5d64e --- /dev/null +++ b/src/navigation/rotate_recovery/CHANGELOG.rst @@ -0,0 +1,135 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rotate_recovery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Cherry pick `#914 `_ (`#919 `_) +* Contributors: David V. Lu!!, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix rotate_recovery debian build + * add depend on tf2_geometry_msgs (due to https://github.com/ros/geometry2/issues/275) + * add other hidden depends: angles, geometry_msgs, tf2 +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove dependency on PCL +* Switch to TF2 `#755 `_ +* fix param names of RotateRecovery, closes `#706 `_ +* Contributors: David V. Lu, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/rotate_recovery/CMakeLists.txt b/src/navigation/rotate_recovery/CMakeLists.txt new file mode 100644 index 0000000..c41b5b6 --- /dev/null +++ b/src/navigation/rotate_recovery/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(rotate_recovery) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + cmake_modules + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros +) + +find_package(Eigen3 REQUIRED) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES rotate_recovery + CATKIN_DEPENDS + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +add_library(rotate_recovery src/rotate_recovery.cpp) +add_dependencies(rotate_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(rotate_recovery ${catkin_LIBRARIES}) + +install(TARGETS rotate_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES rotate_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h b/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h new file mode 100644 index 0000000..cbfdf2d --- /dev/null +++ b/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h @@ -0,0 +1,86 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H +#define ROTATE_RECOVERY_ROTATE_RECOVERY_H +#include +#include +#include +#include +#include + +namespace rotate_recovery +{ +/** + * @class RotateRecovery + * @brief A recovery behavior that rotates the robot in-place to attempt to clear out space + */ +class RotateRecovery : public nav_core::RecoveryBehavior +{ +public: + /** + * @brief Constructor, make sure to call initialize in addition to actually initialize the object + */ + RotateRecovery(); + + /** + * @brief Initialization function for the RotateRecovery recovery behavior + * @param name Namespace used in initialization + * @param tf (unused) + * @param global_costmap (unused) + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + void initialize(std::string name, tf2_ros::Buffer*, + costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap); + + /** + * @brief Run the RotateRecovery recovery behavior. + */ + void runBehavior(); + + /** + * @brief Destructor for the rotate recovery behavior + */ + ~RotateRecovery(); + +private: + costmap_2d::Costmap2DROS* local_costmap_; + bool initialized_; + double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_; + base_local_planner::CostmapModel* world_model_; +}; +}; // namespace rotate_recovery +#endif // ROTATE_RECOVERY_ROTATE_RECOVERY_H diff --git a/src/navigation/rotate_recovery/package.xml b/src/navigation/rotate_recovery/package.xml new file mode 100644 index 0000000..5eca961 --- /dev/null +++ b/src/navigation/rotate_recovery/package.xml @@ -0,0 +1,39 @@ + + + + rotate_recovery + 1.17.2 + + + This package provides a recovery behavior for the navigation stack that attempts to clear space by performing a 360 degree rotation of the robot. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/rotate_recovery + + catkin + + angles + base_local_planner + cmake_modules + + costmap_2d + eigen + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + + + + + + diff --git a/src/navigation/rotate_recovery/rotate_plugin.xml b/src/navigation/rotate_recovery/rotate_plugin.xml new file mode 100644 index 0000000..1b6cf3e --- /dev/null +++ b/src/navigation/rotate_recovery/rotate_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that performs a 360 degree in-place rotation to attempt to clear out space. + + + diff --git a/src/navigation/rotate_recovery/src/rotate_recovery.cpp b/src/navigation/rotate_recovery/src/rotate_recovery.cpp new file mode 100644 index 0000000..2d0bdfe --- /dev/null +++ b/src/navigation/rotate_recovery/src/rotate_recovery.cpp @@ -0,0 +1,183 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +// register this planner as a RecoveryBehavior plugin +PLUGINLIB_EXPORT_CLASS(rotate_recovery::RotateRecovery, nav_core::RecoveryBehavior) + +namespace rotate_recovery +{ +RotateRecovery::RotateRecovery(): local_costmap_(NULL), initialized_(false), world_model_(NULL) +{ +} + +void RotateRecovery::initialize(std::string name, tf2_ros::Buffer*, + costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap) +{ + if (!initialized_) + { + local_costmap_ = local_costmap; + + // get some parameters from the parameter server + ros::NodeHandle private_nh("~/" + name); + ros::NodeHandle blp_nh("~/TrajectoryPlannerROS"); + + // we'll simulate every degree by default + private_nh.param("sim_granularity", sim_granularity_, 0.017); + private_nh.param("frequency", frequency_, 20.0); + + acc_lim_th_ = nav_core::loadParameterWithDeprecation(blp_nh, "acc_lim_theta", "acc_lim_th", 3.2); + max_rotational_vel_ = nav_core::loadParameterWithDeprecation(blp_nh, "max_vel_theta", "max_rotational_vel", 1.0); + min_rotational_vel_ = nav_core::loadParameterWithDeprecation(blp_nh, "min_in_place_vel_theta", "min_in_place_rotational_vel", 0.4); + blp_nh.param("yaw_goal_tolerance", tolerance_, 0.10); + + world_model_ = new base_local_planner::CostmapModel(*local_costmap_->getCostmap()); + + initialized_ = true; + } + else + { + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +RotateRecovery::~RotateRecovery() +{ + delete world_model_; +} + +void RotateRecovery::runBehavior() +{ + if (!initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + if (local_costmap_ == NULL) + { + ROS_ERROR("The costmap passed to the RotateRecovery object cannot be NULL. Doing nothing."); + return; + } + ROS_WARN("Rotate recovery behavior started."); + + ros::Rate r(frequency_); + ros::NodeHandle n; + ros::Publisher vel_pub = n.advertise("cmd_vel", 10); + + geometry_msgs::PoseStamped global_pose; + local_costmap_->getRobotPose(global_pose); + + double current_angle = tf2::getYaw(global_pose.pose.orientation); + double start_angle = current_angle; + + bool got_180 = false; + + while (n.ok() && + (!got_180 || + std::fabs(angles::shortest_angular_distance(current_angle, start_angle)) > tolerance_)) + { + // Update Current Angle + local_costmap_->getRobotPose(global_pose); + current_angle = tf2::getYaw(global_pose.pose.orientation); + + // compute the distance left to rotate + double dist_left; + if (!got_180) + { + // If we haven't hit 180 yet, we need to rotate a half circle plus the distance to the 180 point + double distance_to_180 = std::fabs(angles::shortest_angular_distance(current_angle, start_angle + M_PI)); + dist_left = M_PI + distance_to_180; + + if (distance_to_180 < tolerance_) + { + got_180 = true; + } + } + else + { + // If we have hit the 180, we just have the distance back to the start + dist_left = std::fabs(angles::shortest_angular_distance(current_angle, start_angle)); + } + + double x = global_pose.pose.position.x, y = global_pose.pose.position.y; + + // check if that velocity is legal by forward simulating + double sim_angle = 0.0; + while (sim_angle < dist_left) + { + double theta = current_angle + sim_angle; + + // make sure that the point is legal, if it isn't... we'll abort + double footprint_cost = world_model_->footprintCost(x, y, theta, local_costmap_->getRobotFootprint(), 0.0, 0.0); + if (footprint_cost < 0.0) + { + ROS_ERROR("Rotate recovery can't rotate in place because there is a potential collision. Cost: %.2f", + footprint_cost); + return; + } + + sim_angle += sim_granularity_; + } + + // compute the velocity that will let us stop by the time we reach the goal + double vel = sqrt(2 * acc_lim_th_ * dist_left); + + // make sure that this velocity falls within the specified limits + vel = std::min(std::max(vel, min_rotational_vel_), max_rotational_vel_); + + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = vel; + + vel_pub.publish(cmd_vel); + + r.sleep(); + } +} +}; // namespace rotate_recovery diff --git a/src/navigation/voxel_grid/CHANGELOG.rst b/src/navigation/voxel_grid/CHANGELOG.rst new file mode 100644 index 0000000..a7039cb --- /dev/null +++ b/src/navigation/voxel_grid/CHANGELOG.rst @@ -0,0 +1,117 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package voxel_grid +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* Fix Uknown CMake command check_include_file (`#974 `_) +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sam Pfeiffer, Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- +* remove old test code +* fixup voxel_grid.h formatting (whitespace changes ONLY) +* Contributors: Michael Ferguson + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* uses %u instead of %d for unsigned int +* Contributors: enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Misc. other commits from Groovy Branch +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/src/navigation/voxel_grid/CMakeLists.txt b/src/navigation/voxel_grid/CMakeLists.txt new file mode 100644 index 0000000..14cc3ca --- /dev/null +++ b/src/navigation/voxel_grid/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.0.2) +project(voxel_grid) + +include(CheckIncludeFile) + +find_package(catkin REQUIRED + COMPONENTS + roscpp +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + voxel_grid + CATKIN_DEPENDS + roscpp +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +check_include_file(sys/time.h HAVE_SYS_TIME_H) +if (HAVE_SYS_TIME_H) + add_definitions(-DHAVE_SYS_TIME_H) +endif (HAVE_SYS_TIME_H) + +add_library(voxel_grid src/voxel_grid.cpp) +add_dependencies(voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(voxel_grid ${catkin_LIBRARIES}) + +install(TARGETS voxel_grid + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +if(CATKIN_ENABLE_TESTING) + catkin_add_gtest(voxel_grid_tests test/voxel_grid_tests.cpp) + target_link_libraries(voxel_grid_tests + voxel_grid + ${catkin_LIBRARIES} + ) +endif() diff --git a/src/navigation/voxel_grid/include/voxel_grid/voxel_grid.h b/src/navigation/voxel_grid/include/voxel_grid/voxel_grid.h new file mode 100644 index 0000000..1bc17e7 --- /dev/null +++ b/src/navigation/voxel_grid/include/voxel_grid/voxel_grid.h @@ -0,0 +1,431 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage 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 OWNER 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. + * + * Author: Eitan Marder-Eppstein + *********************************************************************/ +#ifndef VOXEL_GRID_VOXEL_GRID_H +#define VOXEL_GRID_VOXEL_GRID_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @class VoxelGrid + * @brief A 3D grid structure that stores points as an integer array. + * X and Y index the array and Z selects which bit of the integer + * is used giving a limit of 16 vertical cells. + */ +namespace voxel_grid +{ + +enum VoxelStatus { + FREE = 0, + UNKNOWN = 1, + MARKED = 2, +}; + +class VoxelGrid +{ +public: + /** + * @brief Constructor for a voxel grid + * @param size_x The x size of the grid + * @param size_y The y size of the grid + * @param size_z The z size of the grid, only sizes <= 16 are supported + */ + VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z); + + ~VoxelGrid(); + + /** + * @brief Resizes a voxel grid to the desired size + * @param size_x The x size of the grid + * @param size_y The y size of the grid + * @param size_z The z size of the grid, only sizes <= 16 are supported + */ + void resize(unsigned int size_x, unsigned int size_y, unsigned int size_z); + + void reset(); + uint32_t* getData() { return data_; } + + inline void markVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if (x >= size_x_ || y >= size_y_ || z >= size_z_) + { + ROS_DEBUG("Error, voxel out of bounds.\n"); + return; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_ || z >= size_z_) + { + ROS_DEBUG("Error, voxel out of bounds.\n"); + return false; + } + + int index = y * size_x_ + x; + uint32_t* col = &data_[index]; + uint32_t full_mask = ((uint32_t)1<>16; + + //make sure the number of bits in each is below our thesholds + return !bitsBelowThreshold(marked_bits, marked_threshold); + } + + inline void clearVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if (x >= size_x_ || y >= size_y_ || z >= size_z_) + { + ROS_DEBUG("Error, voxel out of bounds.\n"); + return; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_ || z >= size_z_) + { + ROS_DEBUG("Error, voxel out of bounds.\n"); + return; + } + int index = y * size_x_ + x; + uint32_t* col = &data_[index]; + uint32_t full_mask = ((uint32_t)1<>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //make sure the number of bits in each is below our thesholds + if (bitsBelowThreshold(unknown_bits, 1) && bitsBelowThreshold(marked_bits, 1)) + { + costmap[index] = 0; + } + } + + inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold) + { + unsigned int bit_count; + for (bit_count = 0; n;) + { + ++bit_count; + if (bit_count > bit_threshold) + { + return false; + } + n &= n - 1; //clear the least significant bit set + } + return true; + } + + static inline unsigned int numBits(unsigned int n) + { + unsigned int bit_count; + for (bit_count = 0; n; ++bit_count) + { + n &= n - 1; //clear the least significant bit set + } + return bit_count; + } + + static VoxelStatus getVoxel( + unsigned int x, unsigned int y, unsigned int z, + unsigned int size_x, unsigned int size_y, unsigned int size_z, const uint32_t* data) + { + if (x >= size_x || y >= size_y || z >= size_z) + { + ROS_DEBUG("Error, voxel out of bounds. (%d, %d, %d)\n", x, y, z); + return UNKNOWN; + } + uint32_t full_mask = ((uint32_t)1< + inline void raytraceLine( + ActionType at, double x0, double y0, double z0, + double x1, double y1, double z1, unsigned int max_length = UINT_MAX) + { + int dx = int(x1) - int(x0); + int dy = int(y1) - int(y0); + int dz = int(z1) - int(z0); + + unsigned int abs_dx = abs(dx); + unsigned int abs_dy = abs(dy); + unsigned int abs_dz = abs(dz); + + int offset_dx = sign(dx); + int offset_dy = sign(dy) * size_x_; + int offset_dz = sign(dz); + + unsigned int z_mask = ((1 << 16) | 1) << (unsigned int)z0; + unsigned int offset = (unsigned int)y0 * size_x_ + (unsigned int)x0; + + GridOffset grid_off(offset); + ZOffset z_off(z_mask); + + //we need to chose how much to scale our dominant dimension, based on the maximum length of the line + double dist = sqrt((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1) + (z0 - z1) * (z0 - z1)); + double scale = std::min(1.0, max_length / dist); + + //is x dominant + if (abs_dx >= max(abs_dy, abs_dz)) + { + int error_y = abs_dx / 2; + int error_z = abs_dx / 2; + + bresenham3D(at, grid_off, grid_off, z_off, abs_dx, abs_dy, abs_dz, error_y, error_z, offset_dx, offset_dy, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dx)); + return; + } + + //y is dominant + if (abs_dy >= abs_dz) + { + int error_x = abs_dy / 2; + int error_z = abs_dy / 2; + + bresenham3D(at, grid_off, grid_off, z_off, abs_dy, abs_dx, abs_dz, error_x, error_z, offset_dy, offset_dx, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dy)); + return; + } + + //otherwise, z is dominant + int error_x = abs_dz / 2; + int error_y = abs_dz / 2; + + bresenham3D(at, z_off, grid_off, grid_off, abs_dz, abs_dx, abs_dy, error_x, error_y, offset_dz, offset_dx, offset_dy, offset, z_mask, (unsigned int)(scale * abs_dz)); + } + +private: + //the real work is done here... 3D bresenham implementation + template + inline void bresenham3D( + ActionType at, OffA off_a, OffB off_b, OffC off_c, + unsigned int abs_da, unsigned int abs_db, unsigned int abs_dc, + int error_b, int error_c, int offset_a, int offset_b, int offset_c, unsigned int &offset, + unsigned int &z_mask, unsigned int max_length = UINT_MAX) + { + unsigned int end = std::min(max_length, abs_da); + for (unsigned int i = 0; i < end; ++i) + { + at(offset, z_mask); + off_a(offset_a); + error_b += abs_db; + error_c += abs_dc; + if ((unsigned int)error_b >= abs_da) + { + off_b(offset_b); + error_b -= abs_da; + } + if ((unsigned int)error_c >= abs_da) + { + off_c(offset_c); + error_c -= abs_da; + } + } + at(offset, z_mask); + } + + inline int sign(int i) + { + return i > 0 ? 1 : -1; + } + + inline unsigned int max(unsigned int x, unsigned int y) + { + return x > y ? x : y; + } + + unsigned int size_x_, size_y_, size_z_; + uint32_t *data_; + unsigned char *costmap; + + //Aren't functors so much fun... used to recreate the Bresenham macro Eric wrote in the original version, but in "proper" c++ + class MarkVoxel + { + public: + MarkVoxel(uint32_t* data): data_(data){} + inline void operator()(unsigned int offset, unsigned int z_mask) + { + data_[offset] |= z_mask; //clear unknown and mark cell + } + private: + uint32_t* data_; + }; + + class ClearVoxel + { + public: + ClearVoxel(uint32_t* data): data_(data){} + inline void operator()(unsigned int offset, unsigned int z_mask) + { + data_[offset] &= ~(z_mask); //clear unknown and clear cell + } + private: + uint32_t* data_; + }; + + class ClearVoxelInMap + { + public: + ClearVoxelInMap( + uint32_t* data, unsigned char *costmap, + unsigned int unknown_clear_threshold, unsigned int marked_clear_threshold, + unsigned char free_cost = 0, unsigned char unknown_cost = 255): data_(data), costmap_(costmap), + unknown_clear_threshold_(unknown_clear_threshold), marked_clear_threshold_(marked_clear_threshold), + free_cost_(free_cost), unknown_cost_(unknown_cost) + { + } + + inline void operator()(unsigned int offset, unsigned int z_mask) + { + uint32_t* col = &data_[offset]; + *col &= ~(z_mask); //clear unknown and clear cell + + unsigned int unknown_bits = uint16_t(*col>>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //make sure the number of bits in each is below our thesholds + if (bitsBelowThreshold(marked_bits, marked_clear_threshold_)) + { + if (bitsBelowThreshold(unknown_bits, unknown_clear_threshold_)) + { + costmap_[offset] = free_cost_; + } + else + { + costmap_[offset] = unknown_cost_; + } + } + } + private: + inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold) + { + unsigned int bit_count; + for (bit_count = 0; n;) + { + ++bit_count; + if (bit_count > bit_threshold) + { + return false; + } + n &= n - 1; //clear the least significant bit set + } + return true; + } + + uint32_t* data_; + unsigned char *costmap_; + unsigned int unknown_clear_threshold_, marked_clear_threshold_; + unsigned char free_cost_, unknown_cost_; + }; + + class GridOffset + { + public: + GridOffset(unsigned int &offset) : offset_(offset) {} + inline void operator()(int offset_val) + { + offset_ += offset_val; + } + private: + unsigned int &offset_; + }; + + class ZOffset + { + public: + ZOffset(unsigned int &z_mask) : z_mask_(z_mask) {} + inline void operator()(int offset_val) + { + offset_val > 0 ? z_mask_ <<= 1 : z_mask_ >>= 1; + } + private: + unsigned int & z_mask_; + }; +}; + +} // namespace voxel_grid + +#endif // VOXEL_GRID_VOXEL_GRID_H \ No newline at end of file diff --git a/src/navigation/voxel_grid/package.xml b/src/navigation/voxel_grid/package.xml new file mode 100644 index 0000000..0c6e7ee --- /dev/null +++ b/src/navigation/voxel_grid/package.xml @@ -0,0 +1,24 @@ + + + + voxel_grid + 1.17.2 + + + voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures. + + + Eitan Marder-Eppstein, Eric Berger + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/voxel_grid + + catkin + + roscpp + + rosunit + diff --git a/src/navigation/voxel_grid/src/voxel_grid.cpp b/src/navigation/voxel_grid/src/voxel_grid.cpp new file mode 100644 index 0000000..96efa34 --- /dev/null +++ b/src/navigation/voxel_grid/src/voxel_grid.cpp @@ -0,0 +1,224 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* 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 Willow Garage 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include + +namespace voxel_grid { + VoxelGrid::VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z) + { + size_x_ = size_x; + size_y_ = size_y; + size_z_ = size_z; + + if(size_z_ > 16){ + ROS_INFO("Error, this implementation can only support up to 16 z values (%d)", size_z_); + size_z_ = 16; + } + + data_ = new uint32_t[size_x_ * size_y_]; + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + void VoxelGrid::resize(unsigned int size_x, unsigned int size_y, unsigned int size_z) + { + //if we're not actually changing the size, we can just reset things + if(size_x == size_x_ && size_y == size_y_ && size_z == size_z_){ + reset(); + return; + } + + delete[] data_; + size_x_ = size_x; + size_y_ = size_y; + size_z_ = size_z; + + if(size_z_ > 16){ + ROS_INFO("Error, this implementation can only support up to 16 z values (%d)", size_z); + size_z_ = 16; + } + + data_ = new uint32_t[size_x_ * size_y_]; + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + VoxelGrid::~VoxelGrid() + { + delete [] data_; + } + + void VoxelGrid::reset(){ + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + void VoxelGrid::markVoxelLine(double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length){ + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + ROS_DEBUG("Error, line endpoint out of bounds. (%.2f, %.2f, %.2f) to (%.2f, %.2f, %.2f), size: (%d, %d, %d)", x0, y0, z0, x1, y1, z1, + size_x_, size_y_, size_z_); + return; + } + + MarkVoxel mv(data_); + raytraceLine(mv, x0, y0, z0, x1, y1, z1, max_length); + } + + void VoxelGrid::clearVoxelLine(double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length){ + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + ROS_DEBUG("Error, line endpoint out of bounds. (%.2f, %.2f, %.2f) to (%.2f, %.2f, %.2f), size: (%d, %d, %d)", x0, y0, z0, x1, y1, z1, + size_x_, size_y_, size_z_); + return; + } + + ClearVoxel cv(data_); + raytraceLine(cv, x0, y0, z0, x1, y1, z1, max_length); + } + + void VoxelGrid::clearVoxelLineInMap(double x0, double y0, double z0, double x1, double y1, double z1, unsigned char *map_2d, + unsigned int unknown_threshold, unsigned int mark_threshold, unsigned char free_cost, unsigned char unknown_cost, unsigned int max_length){ + costmap = map_2d; + if(map_2d == NULL){ + clearVoxelLine(x0, y0, z0, x1, y1, z1, max_length); + return; + } + + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + ROS_DEBUG("Error, line endpoint out of bounds. (%.2f, %.2f, %.2f) to (%.2f, %.2f, %.2f), size: (%d, %d, %d)", x0, y0, z0, x1, y1, z1, + size_x_, size_y_, size_z_); + return; + } + + ClearVoxelInMap cvm(data_, costmap, unknown_threshold, mark_threshold, free_cost, unknown_cost); + raytraceLine(cvm, x0, y0, z0, x1, y1, z1, max_length); + } + + VoxelStatus VoxelGrid::getVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if(x >= size_x_ || y >= size_y_ || z >= size_z_){ + ROS_DEBUG("Error, voxel out of bounds. (%d, %d, %d)\n", x, y, z); + return UNKNOWN; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_){ + ROS_DEBUG("Error, voxel out of bounds. (%d, %d)\n", x, y); + return UNKNOWN; + } + + uint32_t* col = &data_[y * size_x_ + x]; + + unsigned int unknown_bits = uint16_t(*col>>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //check if the number of marked bits qualifies the col as marked + if(!bitsBelowThreshold(marked_bits, marked_threshold)){ + return MARKED; + } + + //check if the number of unkown bits qualifies the col as unknown + if(!bitsBelowThreshold(unknown_bits, unknown_threshold)) + return UNKNOWN; + + return FREE; + } + + unsigned int VoxelGrid::sizeX(){ + return size_x_; + } + + unsigned int VoxelGrid::sizeY(){ + return size_y_; + } + + unsigned int VoxelGrid::sizeZ(){ + return size_z_; + } + + void VoxelGrid::printVoxelGrid(){ + for(unsigned int z = 0; z < size_z_; z++){ + printf("Layer z = %u:\n",z); + for(unsigned int y = 0; y < size_y_; y++){ + for(unsigned int x = 0 ; x < size_x_; x++){ + printf((getVoxel(x, y, z)) == voxel_grid::MARKED? "#" : " "); + } + printf("|\n"); + } + } + } + + void VoxelGrid::printColumnGrid(){ + printf("Column view:\n"); + for(unsigned int y = 0; y < size_y_; y++){ + for(unsigned int x = 0 ; x < size_x_; x++){ + printf((getVoxelColumn(x, y, 16, 0) == voxel_grid::MARKED)? "#" : " "); + } + printf("|\n"); + } + } +}; diff --git a/src/navigation/voxel_grid/test/voxel_grid_tests.cpp b/src/navigation/voxel_grid/test/voxel_grid_tests.cpp new file mode 100644 index 0000000..3f20099 --- /dev/null +++ b/src/navigation/voxel_grid/test/voxel_grid_tests.cpp @@ -0,0 +1,146 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 Willow Garage, Inc. 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 OWNER 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. +* +* Author: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include + +TEST(voxel_grid, basicMarkingAndClearing){ + int size_x = 50, size_y = 10, size_z = 16; + voxel_grid::VoxelGrid vg(size_x, size_y, size_z); + + //Put a "tabletop" into the scene. A flat rectangle of set voxels at z = 12. + int table_z = 12; + int table_x_min = 5, table_x_max = 15; + int table_y_min = 0, table_y_max = 3; + for(int x = table_x_min; x <= table_x_max; x++){ + vg.markVoxelLine(x, table_y_min, table_z, x, table_y_max, table_z); + } + + for(int i = table_x_min; i <= table_x_max; ++i){ + for(int j = table_y_min; j <= table_y_max; ++j){ + //check that each cell of the table is marked + ASSERT_EQ(voxel_grid::MARKED, vg.getVoxel(i, j, table_z)); + } + } + + int mark_count = 0; + unsigned int unknown_count = 0; + //go through each cell in the voxel grid and make sure that only 44 are filled in + for(unsigned int i = 0; i < vg.sizeX(); ++i){ + for(unsigned int j = 0; j < vg.sizeY(); ++j){ + for(unsigned int k = 0; k < vg.sizeZ(); ++k){ + if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){ + mark_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){ + unknown_count++; + } + } + } + } + ASSERT_EQ(mark_count, 44); + + //the rest of the cells should be unknown + ASSERT_EQ(unknown_count, vg.sizeX() * vg.sizeY() * vg.sizeZ() - 44); + + //now, let's clear one of the rows of the table + vg.clearVoxelLine(table_x_min, table_y_min, table_z, table_x_max, table_y_min, table_z); + + mark_count = 0; + unknown_count = 0; + int free_count = 0; + //go through each cell in the voxel grid and make sure that only 33 are now filled in + for(unsigned int i = 0; i < vg.sizeX(); ++i){ + for(unsigned int j = 0; j < vg.sizeY(); ++j){ + for(unsigned int k = 0; k < vg.sizeZ(); ++k){ + if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){ + mark_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::FREE){ + free_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){ + unknown_count++; + } + } + } + } + + //we've switched 11 cells from marked to free + ASSERT_EQ(mark_count, 33); + + //we've just explicitly seen through 11 cells + ASSERT_EQ(free_count, 11); + + //the rest of the cells should still be unknown + ASSERT_EQ(unknown_count, vg.sizeX() * vg.sizeY() * vg.sizeZ() - 44); + + //now let's put in a vertical column manually to test markVoxel + for(unsigned int i = 0; i < vg.sizeZ(); ++i){ + vg.markVoxel(0, 0, i); + ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::MARKED); + } + + vg.printColumnGrid(); + vg.printVoxelGrid(); + + //now, let's clear that line of voxels and make sure that they clear out OK + vg.clearVoxelLine(0, 0, 0, 0, 0, vg.sizeZ() - 1); + + for(unsigned int i = 0; i < vg.sizeZ(); ++i){ + ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::FREE); + } + + mark_count = 0; + + //Visualize the output + /* + v->printVoxelGrid(); + v->printColumnGrid(); + + printf("CostMap:\n===========\n"); + for(int y = 0; y < size_y; y++){ + for(int x = 0; x < size_x; x++){ + printf((costMap[y * size_x + x] > 0 ? "#" : " ")); + }printf("|\n"); + } + */ +} + +int main(int argc, char** argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/src/openslam_gmapping/.github/ci_cross_platform_env.yml b/src/openslam_gmapping/.github/ci_cross_platform_env.yml new file mode 100644 index 0000000..26cffa0 --- /dev/null +++ b/src/openslam_gmapping/.github/ci_cross_platform_env.yml @@ -0,0 +1,15 @@ +name: test +channels: + - robostack + - conda-forge +dependencies: + - compilers + - ninja + - cmake + - catkin_pkg + - pkg-config + - rosdep + - rosdistro + - ros-distro-mutex 0.1 noetic + - ros-noetic-catkin + - ros-noetic-ros-environment diff --git a/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml b/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml new file mode 100644 index 0000000..3ea2fd3 --- /dev/null +++ b/src/openslam_gmapping/.github/workflows/cross_platform_ci.yml @@ -0,0 +1,101 @@ +name: OpenSLAM gmapping cross-platform RoboStack build + +on: + workflow_dispatch: + pull_request: + push: + branches: + - master + - "[kmn]*-devel" + +jobs: + run_openslam_gmapping_compilation: + runs-on: ${{ matrix.os }} + name: ${{ matrix.os }} + strategy: + fail-fast: false + matrix: + os: [ubuntu-latest, macos-latest, windows-latest] + + steps: + - uses: actions/checkout@v2 + + - name: Set up Build Dependencies + uses: mamba-org/provision-with-micromamba@main + with: + environment-file: .github/ci_cross_platform_env.yml + micromamba-version: latest + + - name: Set up OpenSLAM gmapping Dependencies on Unix + if: runner.os == 'Linux' || runner.os == 'macOS' + shell: bash -l -eo pipefail {0} + run: | + micromamba activate test + export PATH=$HOME/micromamba-bin:$PATH + rosdep init + rosdep update + rosdep install --from-paths . --ignore-src -r -y + + - name: Build OpenSLAM gmapping on Unix + if: runner.os == 'Linux' || runner.os == 'macOS' + shell: bash -l -eo pipefail {0} + run: | + export CTEST_OUTPUT_ON_FAILURE=1 + + mkdir build + cd build + + cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ + -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ + -DCMAKE_BUILD_TYPE=Release \ + -DCATKIN_SKIP_TESTING=OFF \ + -G "Ninja" + + ninja + + - name: Set up OpenSLAM gmapping on Windows + if: runner.os == 'Windows' + shell: cmd + run: | + echo "Activate environment, and use rosdep to install dependencies" + call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test + + rosdep init + rosdep update + rosdep install --from-paths . --ignore-src -r -y + + - name: Build OpenSLAM gmapping on Windows + if: runner.os == 'Windows' + shell: cmd + run: | + + echo "Remove unnecessary / colliding things from PATH" + set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%" + set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%" + set "PATH=%PATH:C:\Rust\.cargo\bin;=%" + set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%" + set "PATH=%PATH:C:\Program Files\Git\cmd;=%" + set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%" + set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%" + set "PATH=%PATH:C:\Program Files\CMake\bin;=%" + set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%" + set "PATH=%PATH:C:\Strawberry\c\bin;=%" + set "PATH=%PATH:C:\Strawberry\perl\bin;=%" + set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%" + set "PATH=%PATH:c:\tools\php;=%" + set "PATH=%PATH:ostedtoolcache=%" + + call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test + + mkdir build + cd build + SET "CTEST_OUTPUT_ON_FAILURE=1" + + cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^ + -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^ + -DCMAKE_BUILD_TYPE=Release ^ + -DCATKIN_SKIP_TESTING=OFF ^ + -DBoost_USE_STATIC_LIBS=OFF ^ + -G "Ninja" + + ninja diff --git a/src/openslam_gmapping/.travis.yml b/src/openslam_gmapping/.travis.yml new file mode 100644 index 0000000..5cdb2a1 --- /dev/null +++ b/src/openslam_gmapping/.travis.yml @@ -0,0 +1,49 @@ + +# this is .traivs.yml written by - + +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/devel_jobs.rst +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst +# while this doesn't require sudo we don't want to run within a Docker container +sudo: true +dist: trusty +language: python +python: + - "3.6" +env: + global: + - JOB_PATH=/tmp/devel_job + - ABORT_ON_TEST_FAILURE=1 + matrix: + - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 + - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64 + - ROS_DISTRO_NAME=noetic OS_NAME=ubuntu OS_CODE_NAME=focal ARCH=amd64 +# matrix: +# allow_failures: +# - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 +install: + # either install the latest released version of ros_buildfarm + # - pip install ros_buildfarm + # or checkout a specific branch + #- git clone -b master https://github.com/ros-infrastructure/ros_buildfarm /tmp/ros_buildfarm + # use rosdep_update_options (https://github.com/ros-infrastructure/ros_buildfarm/pull/890) + - git clone -b fix_674 https://github.com/k-okada/ros_buildfarm /tmp/ros_buildfarm + - pip install /tmp/ros_buildfarm + # checkout catkin for catkin_test_results script + - git clone https://github.com/ros/catkin /tmp/catkin + # run devel job for a ROS repository with the same name as this repo + - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR` + # use the code already checked out by Travis + - mkdir -p $JOB_PATH/ws/src + - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/ws/src/ + # download slam_gmapping to run rostest + - git clone https://github.com/ros-perception/slam_gmapping $JOB_PATH/ws/src/slam_gmapping + # generate the script to run a pre-release job for that target and repo + - generate_prerelease_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir $JOB_PATH --custom-rosdep-update-options=--include-eol-distros + # run the actual job which involves Docker + - cd $JOB_PATH; sh ./prerelease.sh -y +script: + # get summary of test results + - /tmp/catkin/bin/catkin_test_results $JOB_PATH/ws/test_results --all +notifications: + email: false + diff --git a/src/openslam_gmapping/CHANGELOG.rst b/src/openslam_gmapping/CHANGELOG.rst new file mode 100644 index 0000000..f3b7303 --- /dev/null +++ b/src/openslam_gmapping/CHANGELOG.rst @@ -0,0 +1,37 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package openslam_gmapping +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.2.1 (2019-07-10) +------------------ +* CMakeLists.txt: fix install command (install libs, install includes to corrrect position as well as hxx (`#30 `_) +* Contributors: Kei Okada + +0.2.0 (2019-07-07) +------------------ +* update license to BSD-3 (`#29 `_) + + * update maintainer to ROS Orphaned Package Maintainers + * Cleanup of cmake and package.xml + * remove compile error + /home/user/gmapping_ws/src/openslam_gmapping/gridfastslam/gfs2rec.cpp: In member function ‘virtual void ResampleRecord::read(std::istream&)’: + /home/user/gmapping_ws/src/openslam_gmapping/gridfastslam/gfs2rec.cpp:148:17: error: redeclaration of ‘unsigned int i’ + unsigned int i; + ^ + /home/user/gmapping_ws/src/openslam_gmapping/gridfastslam/gfs2rec.cpp:147:21: error: ‘unsigned int i’ previously declared here + for (unsigned int i=0; i< dim; i++){ + ^ + make[2]: *** [CMakeFiles/gfs2rec.dir/gridfastslam/gfs2rec.cpp.o] Error 1 + make[1]: *** [CMakeFiles/gfs2rec.dir/all] Error 2 + make[1]: *** Waiting for unfinished jobs.... + * update for NANs, comply with REP117 + * apply missing patches + * update cpp header location in #include directive + for fullfile in $(cd include/; find gmapping/ -type f -print); do headerfile=$(basename $fullfile); echo $fullfile; for targetfile in $(find . -type f -not -path "*/.git/*" -print); do sed -i "s@\([\"<]\)$headerfile\([>\"]\)@\1$fullfile\2@g" $targetfile | grep $headerfile; done; done + for fullfile in $(cd include/; find gmapping/ -type f -print); do headerfile=$(basename $fullfile); for targetfile in $(find . -type f -not -path "*/.git/*" -print); do sed -i "s@\([\"<]\)[a-z0-9\_/]*/$headerfile\([>\"]\)@\1$fullfile\2@g" $targetfile | grep $headerfile; done; done + * move cpp header fiels to include directory, by + find . -iname *.h* -print -exec bash -c 'file={}; dir=; mkdir -p include/gmapping//; git mv include/gmapping//' \; + * catkinize package CMakeLists.txt package.xml + +* Forked from original openslam_gmapping package (https://github.com/OpenSLAM-org/openslam_gmapping/tree/79ef0b0e6d9a12d6390ae64c4c00d37d776abefb +* Contributors: Kei Okada, Michael Ferguson, Mike Ferguson, William Woodall, grisetti, stachnis diff --git a/src/openslam_gmapping/CMakeLists.txt b/src/openslam_gmapping/CMakeLists.txt new file mode 100644 index 0000000..eaef201 --- /dev/null +++ b/src/openslam_gmapping/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 2.8.3) +project(openslam_gmapping) + +## Find catkin macros and libraries +find_package(catkin REQUIRED) + +include(GenerateExportHeader) +set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include") +file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}") + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +catkin_package( + INCLUDE_DIRS + include + ${EXPORT_HEADER_DIR} + LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${EXPORT_HEADER_DIR} +) + +#SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui + +# utils/ +# OBJS= stat.o movement.o +# APPS= autoptr_test #stat_test +# CPPFLAGS+= -DFSLINE +add_library(utils + utils/stat.cpp + utils/movement.cpp) +add_executable(autoptr_test + utils/autoptr_test.cpp) + +# sensor/ +# SUBDIRS=sensor_base sensor_odometry sensor_range + +# sensor/sensor_base/ +# OBJS= sensor.o sensorreading.o +add_library(sensor_base + sensor/sensor_base/sensor.cpp + sensor/sensor_base/sensorreading.cpp) + +# sensor/sensor_odometry/ +# LDFLAGS+= -lsensor_base +# OBJS= odometrysensor.o odometryreading.o +add_library(sensor_odometry + sensor/sensor_odometry/odometrysensor.cpp + sensor/sensor_odometry/odometryreading.cpp) +target_link_libraries(sensor_odometry + sensor_base) + +# sensor/sensor_range/ +# CPPFLAGS+= -I../ +# LDFLAGS+= -lsensor_base +# OBJS= rangesensor.o rangereading.o +add_library(sensor_range + sensor/sensor_range/rangesensor.cpp + sensor/sensor_range/rangereading.cpp) +target_link_libraries(sensor_range + sensor_base) + +# log/ +# CPPFLAGS+= -I../sensor +# OBJS= configuration.o carmenconfiguration.o sensorlog.o sensorstream.o +# APPS= log_test log_plot scanstudio2carmen rdk2carmen +# LDFLAGS+= -lsensor_range -lsensor_odometry -lsensor_base +add_library(log + log/configuration.cpp + log/carmenconfiguration.cpp + log/sensorlog.cpp + log/sensorstream.cpp) +add_executable(log_test + log/log_test.cpp) +add_executable(log_plot + log/log_plot.cpp) +add_executable(scanstudio2carmen + log/scanstudio2carmen.cpp) +add_executable(rdk2carmen + log/rdk2carmen.cpp) +target_link_libraries(log_test log) +target_link_libraries(log_plot log) +target_link_libraries(scanstudio2carmen log) +target_link_libraries(rdk2carmen log) +target_link_libraries(log + sensor_range sensor_odometry sensor_base) + +# configfile/ +# OBJS= configfile.o +# APPS= configfile_test +add_library(configfile + configfile/configfile.cpp) +add_executable(configfile_test + configfile/configfile_test.cpp) +target_link_libraries(configfile_test configfile) + +# scanmatcher/ +# CPPFLAGS+=-I../sensor +# OBJS= smmap.o scanmatcher.o scanmatcherprocessor.o eig3.o +# APPS= scanmatch_test icptest +# LDFLAGS+= -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils +add_library(scanmatcher + scanmatcher/smmap.cpp + scanmatcher/scanmatcher.cpp + scanmatcher/scanmatcherprocessor.cpp + scanmatcher/eig3.cpp) +add_executable(scanmatch_test + scanmatcher/scanmatch_test.cpp) +add_executable(icptest + scanmatcher/icptest.cpp) +target_link_libraries(scanmatch_test scanmatcher) +target_link_libraries(icptest scanmatcher) +target_link_libraries(scanmatcher + log sensor_range sensor_odometry sensor_base utils) + +# gridfastslam/ +# CPPFLAGS+=-I../sensor +# OBJS= gridslamprocessor_tree.o motionmodel.o gridslamprocessor.o gfsreader.o +# APPS= gfs2log gfs2rec gfs2neff #gfs2stat +# LDFLAGS+= -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils +add_library(gridfastslam + gridfastslam/gridslamprocessor_tree.cpp + gridfastslam/motionmodel.cpp + gridfastslam/gridslamprocessor.cpp + gridfastslam/gfsreader.cpp) +add_executable(gfs2log + gridfastslam/gfs2log.cpp) +add_executable(gfs2rec + gridfastslam/gfs2rec.cpp) +add_executable(gfs2neff + gridfastslam/gfs2neff.cpp) +target_link_libraries(gfs2log gridfastslam) +target_link_libraries(gfs2rec gridfastslam) +target_link_libraries(gfs2neff gridfastslam) +target_link_libraries(gridfastslam + scanmatcher log sensor_range sensor_odometry sensor_base utils) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +install(TARGETS utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(TARGETS autoptr_test log_test log_plot scanstudio2carmen rdk2carmen configfile_test scanmatch_test icptest gfs2log gfs2rec gfs2neff + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/gmapping + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h*" + PATTERN ".svn" EXCLUDE +) + +generate_export_header(utils + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/utils/utils_export.h) +generate_export_header(sensor_base + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_base/sensor_base_export.h) +generate_export_header(sensor_odometry + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_odometry/sensor_odometry_export.h) +generate_export_header(sensor_range + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_range/sensor_range_export.h) +generate_export_header(log + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/log/log_export.h) +generate_export_header(configfile + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/configfile/configfile_export.h) +generate_export_header(scanmatcher + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/scanmatcher/scanmatcher_export.h) +generate_export_header(gridfastslam + EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/gridfastslam/gridfastslam_export.h) + +install(DIRECTORY + ${EXPORT_HEADER_DIR}/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_openslam_gmapping.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/openslam_gmapping/Makefile b/src/openslam_gmapping/Makefile new file mode 100644 index 0000000..5d13814 --- /dev/null +++ b/src/openslam_gmapping/Makefile @@ -0,0 +1,17 @@ +-include ./global.mk + +ifeq ($(CARMENSUPPORT),1) +SUBDIRS=utils sensor log configfile scanmatcher carmenwrapper gridfastslam gui gfs-carmen +else +ifeq ($(MACOSX),1) +SUBDIRS=utils sensor log configfile scanmatcher gridfastslam +else +SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui +endif +endif + +LDFLAGS+= +CPPFLAGS+= -I../sensor + +-include ./build_tools/Makefile.subdirs + diff --git a/src/openslam_gmapping/TODO.txt b/src/openslam_gmapping/TODO.txt new file mode 100644 index 0000000..322c317 --- /dev/null +++ b/src/openslam_gmapping/TODO.txt @@ -0,0 +1,21 @@ +TODO-List for gmapping (and partly explore) +-------------------------------------------- + +open: +----- + +1. implement a working(!) ancestry tree + +2. compute trajectory uncertainty based on the + ancestry tree formula + +3. possibility to choose the way the pose uncertainty + for a particle set is computed (grid vs set of + gaussians) + +4. Fix the NAN Problem with the pose uncertainty with gaussians + +done: +----- + +(move the done stuff down here) \ No newline at end of file diff --git a/src/openslam_gmapping/build_tools/Makefile.app b/src/openslam_gmapping/build_tools/Makefile.app new file mode 100644 index 0000000..9668830 --- /dev/null +++ b/src/openslam_gmapping/build_tools/Makefile.app @@ -0,0 +1,80 @@ +# Makefile generico per applicazione +# +# Variabili: +# APPS lista delle applicazioni +# OBJS lista degli oggetti +# QOBJS lista degli oggetti QT +# LIBS librerie +# +# Ogni applicazione viene linkata con tutti gli oggetti + +export VERBOSE + +ifeq ($(LINUX),1) +CPPFLAGS+=-DLINUX +endif + + +APPLICATIONS= $(foreach a, $(APPS),$(BINDIR)/$(a)) +all: $(APPLICATIONS) + +PACKAGE=$(notdir $(shell pwd)) + +.SECONDARY: $(OBJS) $(QOBJS) +.PHONY: all clean copy doc + +$(QOBJS): %.o: %.cpp moc_%.cpp + @$(MESSAGE) "Compiling (QT) $@" + @$(PRETTY) "$(CXX) $(CPPFLAGS) $(QT_INCLUDE) $(CXXFLAGS) -c $< -o $@" + +moc_%.cpp: %.h + @$(MESSAGE) "Generating MOC $@" + @$(PRETTY) "$(MOC) -i $< -o $@" + +# Generazione degli oggetti +%.o: %.cpp + @$(MESSAGE) "Compiling $@" + @$(PRETTY) "$(CXX) $(CPPFLAGS) $(CXXFLAGS) -c $< -o $@" + +# Generazione delle applicazioni +$(BINDIR)/%: %.cpp $(OBJS) $(QOBJS) + @$(MESSAGE) "Linking application `basename $@`" + @$(PRETTY) "$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(OBJS) $(QOBJS) $< -L$(LIBDIR) $(LIBS) -o $@" + +#Regole per la generazione di tabelle o altri file creati automaticamente +table_%.cpp: gen_table_% + @$(MESSAGE) "Generating $@" + @$(PRETTY) "./$< > $@" + +gen_table_%: gen_table_%.cpp + @$(MESSAGE) "Generating $@" + @$(PRETTY) "$(CXX) $(CPPFLAGS) $(CXXFLAGS) $< -o $@" + +#Regole per la generazione delle dipendenze +OBJDEPS=$(foreach module,$(basename $(OBJS) $(QOBJS)),$(module).d) + +$(OBJDEPS): %.d: %.cpp # ci va o no? %.h + @$(MESSAGE) "Generating dependecies $@" + @$(PRETTY) "$(CXX) $(CPPFLAGS) -MM -MG -MF $@ $<" + +ifneq ($(MAKECMDGOALS),clean) +ifneq ($(MAKECMDGOALS),copy) +-include $(OBJDEPS) +endif +endif + +doc: + rm -rf doc/$(PACKAGE) +ifeq ($(strip $(DOCTITLE)),) + kdoc -L doc -d doc/$(PACKAGE) -n "Package $(PACKAGE) (lib$(PACKAGE).so)" $(HEADERS) +else + kdoc -L doc -d doc/$(PACKAGE) -n "$(DOCTITLE) (lib$(PACKAGE).so)" $(HEADERS) +endif + +clean: + @$(MESSAGE) "Cleaning $(PACKAGE)" + @$(PRETTY) "rm -f *.d *.o moc_*.cpp *.d core *~ table_*.cpp gen_table*[^.][^c][^p][^p] $(APPLICATIONS)" + @$(PRETTY) "rm -rf doc/$(PACKAGE)" + +copy: clean + tar -C .. -cvzf `date +../$(PACKAGE)-%d%b%y.tgz` $(PACKAGE) diff --git a/src/openslam_gmapping/build_tools/Makefile.generic-shared-object b/src/openslam_gmapping/build_tools/Makefile.generic-shared-object new file mode 100644 index 0000000..8bb7ec6 --- /dev/null +++ b/src/openslam_gmapping/build_tools/Makefile.generic-shared-object @@ -0,0 +1,109 @@ +# Makefile generico per shared object +export VERBOSE +export CXX + +# Nome del package +PACKAGE=$(notdir $(shell pwd)) + +# Libreria da generare: +# Se non si setta la variabile LIBNAME la libreria si chiama +# come la directory +ifndef LIBNAME +LIBNAME=$(PACKAGE) +endif + +ifeq ($(MACOSX),1) +SONAME=$(LIBDIR)/lib$(LIBNAME).dylib +endif + +ifeq ($(LINUX),1) +SONAME=$(LIBDIR)/lib$(LIBNAME).so +endif + +APPLICATIONS= $(foreach a, $(APPS),$(BINDIR)/$(a)) +INSTALL_SCRIPTS=$(foreach a, $(SCRIPTS),$(BINDIR)/$(a)) + +all: $(SONAME) $(APPLICATIONS) $(INSTALL_SCRIPTS) + +.SECONDARY: $(OBJS) $(COBJS) +.PHONY: all clean copy doc + +# Generazione della libreria +$(SONAME): $(OBJS) $(COBJS) + @$(MESSAGE) "Creating library lib$(LIBNAME).so" +ifeq ($(MACOSX),1) + @$(PRETTY) "$(CXX) $(LDFLAGS) -dynamiclib $(OBJS) $(COBJS) -L$(LIBDIR) $(LIBS) -install_name $@ -o $@" +endif +ifeq ($(LINUX),1) + @$(PRETTY) "$(CXX) -fPIC -shared $(OBJS) $(COBJS) -L $(LIBDIR) $(LIBS) $(LDFLAGS) -o $@" + @if ! $(PRETTY) "$(TESTLIB) $(SONAME)"; then $(MESSAGE) "Testing of $(SONAME) failed."; rm $(SONAME); exit 1; fi; +endif + +# Generazione delle applicazioni +$(BINDIR)/%: %.o $(SONAME) + @$(MESSAGE) "Linking application `basename "$@"`" + @$(PRETTY) "$(CXX) $< -l$(LIBNAME) $(LDFLAGS) -L$(LIBDIR) $(LIBS) -o $@" + +#Generazione dei moc files +moc_%.cpp: %.h + @$(MESSAGE) "Compiling MOC $@" + @$(PRETTY) "$(MOC) -i $< -o $@" + +# Generazione degli oggetti +%.o: %.cpp + @$(MESSAGE) "Compiling $<" + @$(PRETTY) "$(CXX) -fPIC $(CPPFLAGS) $(CXXFLAGS) -c $< -o $@" + +%.o: %.c + @$(MESSAGE) "Compiling $<" + @$(PRETTY) "$(CC) -fPIC $(CPPFLAGS) $(CFLAGS) -c $< -o $@" + +#Regole per la generazione delle dipendenze +OBJDEPS= $(foreach module,$(basename $(OBJS)),$(module).d) $(foreach a, $(APPS),$(a).d) +COBJDEPS=$(foreach module,$(basename $(COBJS)),$(module).d) + +$(OBJDEPS): %.d: %.cpp + @$(MESSAGE) "Generating dependencies for $<" + @$(PRETTY) "$(CXX) $(CPPFLAGS) -MM -MG $< -MF $@" + +$(COBJDEPS): %.d: %.c + @$(MESSAGE) "Generating dependencies for $<" + @$(PRETTY) "$(CC) $(CPPFLAGS) -MM -MG $< -MF $@" + +#HEADERS=`ls *.h` +#PRECOMPILED_HEADERS=$(foreach file,$(basename $(HEADERS)), $(file).pch) + +ifneq ($(MAKECMDGOALS),clean) +ifneq ($(MAKECMDGOALS),copy) +ifneq ($(MAKECMDGOALS),dep) +-include $(OBJDEPS) $(COBJDEPS) +endif +endif +endif + +dep: $(OBJDEPS) $(COBJDEPS) + + +# GLi script vengono semplicemente copiati +$(BINDIR)/%.sh: %.sh + @$(MESSAGE) "Installing script `basename "$@"`" + @$(PRETTY) "cp $< $@" + @$(PRETTY) "chmod +x $@" + + +#doc: +# rm -rf doc/$(PACKAGE) +#ifeq ($(strip $(DOCTITLE)),) +# kdoc -L doc -d doc/$(PACKAGE) -n "Package $(PACKAGE) (lib$(PACKAGE).so)" $(HEADERS) +#else +# kdoc -L doc -d doc/$(PACKAGE) -n "$(DOCTITLE) (lib$(PACKAGE).so)" $(HEADERS) +#endif + + +clean: + @$(MESSAGE) "Cleaning $(PACKAGE)" + @$(PRETTY) "rm -f $(SONAME) $(APPLICATIONS)" + @$(PRETTY) "rm -f *.o *.d core *~ moc_*.cpp" + +copy: clean + tar -C .. -cvzf `date +../$(PACKAGE)-%d%b%y.tgz` $(PACKAGE) diff --git a/src/openslam_gmapping/build_tools/Makefile.subdirs b/src/openslam_gmapping/build_tools/Makefile.subdirs new file mode 100644 index 0000000..879bb45 --- /dev/null +++ b/src/openslam_gmapping/build_tools/Makefile.subdirs @@ -0,0 +1,16 @@ +export VERBOSE + +.PHONY: clean, all + +ifeq ($(VERBOSE), 0) +QUIET=--no-print-directory +endif + +all: + @for subdir in $(SUBDIRS); do $(MESSAGE) "Entering $$subdir."; if ! $(MAKE) $(QUIET) -C $$subdir; then $(MESSAGE) "Compilation in $$subdir failed."; exit 1; fi; done + +clean: + @for subdir in $(SUBDIRS); do $(MESSAGE) "Entering $$subdir."; $(MAKE) $(QUIET) -C $$subdir clean; done + +dep: + @for subdir in $(SUBDIRS); do $(MESSAGE) "Entering $$subdir."; $(MAKE) $(QUIET) -C $$subdir dep; done diff --git a/src/openslam_gmapping/build_tools/generate_shared_object b/src/openslam_gmapping/build_tools/generate_shared_object new file mode 100755 index 0000000..422be75 --- /dev/null +++ b/src/openslam_gmapping/build_tools/generate_shared_object @@ -0,0 +1,16 @@ +#!/bin/tcsh + +echo decompressing file $1 + +set FILELIST=`ar -t $1` +echo "Object files:" +foreach i ($FILELIST) + echo $i +end + +echo generating $1:r.so + +ar -x $1 +ld -shared -o $1:r.so $FILELIST + +rm $FILELIST diff --git a/src/openslam_gmapping/build_tools/message b/src/openslam_gmapping/build_tools/message new file mode 100755 index 0000000..219ca21 --- /dev/null +++ b/src/openslam_gmapping/build_tools/message @@ -0,0 +1,14 @@ +#!/bin/sh + +#echo "message: verbose = $VERBOSE" + +if ($VERBOSE) +then + exit 0; +fi + +a=$MAKELEVEL + +while ((0<$a)); do echo -n " "; let "a = $a - 1";done + +echo $1 diff --git a/src/openslam_gmapping/build_tools/pretty_compiler b/src/openslam_gmapping/build_tools/pretty_compiler new file mode 100755 index 0000000..c57ce31 --- /dev/null +++ b/src/openslam_gmapping/build_tools/pretty_compiler @@ -0,0 +1,26 @@ +#!/bin/sh + + +#echo "pretty: verbose = $VERBOSE" + +if ($VERBOSE) +then + echo $1; + if ! eval $1 + then + echo "Failed command was:" + echo $1 + echo "in directory " `pwd` + exit 1 + fi +else + if ! eval $1 + then + echo "Failed command was:" + echo $1 + echo "in directory " `pwd` + exit 1 + fi +fi + +exit 0 diff --git a/src/openslam_gmapping/build_tools/testlib b/src/openslam_gmapping/build_tools/testlib new file mode 100755 index 0000000..28702e4 --- /dev/null +++ b/src/openslam_gmapping/build_tools/testlib @@ -0,0 +1,26 @@ +#!/bin/bash +if [ -z "$1" ]; then + echo "Syntax: rtestlib " + exit 1 +fi + +exit 0 + +FNAME=`mktemp rtestlibXXXXXX` +echo "int main() { return 0; }" > $FNAME.cpp + +g++ $1 $FNAME.cpp -o $FNAME +result=$? +rm -f $FNAME.cpp $FNAME + +exit $result + +#if g++ $1 $FNAME.cpp -o $FNAME +#then# +# rm -f $FNAME.cpp $FNAME +# exit 1 +#else +# rm -f $FNAME.cpp $FNAME +# exit 0 +#fi + diff --git a/src/openslam_gmapping/carmenwrapper/Makefile b/src/openslam_gmapping/carmenwrapper/Makefile new file mode 100644 index 0000000..4b90b9b --- /dev/null +++ b/src/openslam_gmapping/carmenwrapper/Makefile @@ -0,0 +1,14 @@ +OBJS= carmenwrapper.o +APPS= + +LIBS+= -L$(CARMEN_HOME)/lib -lnavigator_interface -lsimulator_interface -lrobot_interface -llaser_interface -lparam_interface -lglobal -lipc -lm -lutils -lsensor_range -llog -lscanmatcher -lpthread -lz +CPPFLAGS+=-I../sensor -I$(CARMEN_HOME)/include + +-include ../global.mk + +ifeq ($(CARMENSUPPORT), 0) +OBJS= + -include ../build_tools/Makefile.app +else + -include ../build_tools/Makefile.generic-shared-object +endif diff --git a/src/openslam_gmapping/carmenwrapper/carmenwrapper.cpp b/src/openslam_gmapping/carmenwrapper/carmenwrapper.cpp new file mode 100644 index 0000000..786436f --- /dev/null +++ b/src/openslam_gmapping/carmenwrapper/carmenwrapper.cpp @@ -0,0 +1,489 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include "gmapping/carmenwrapper/carmenwrapper.h" + +using namespace GMapping; +using namespace std; + +//static vars for the carmenwrapper +SensorMap CarmenWrapper::m_sensorMap; +deque CarmenWrapper::m_rangeDeque; +pthread_mutex_t CarmenWrapper::m_mutex; +sem_t CarmenWrapper::m_dequeSem; +pthread_mutex_t CarmenWrapper::m_lock; +pthread_t CarmenWrapper::m_readingThread; +RangeSensor* CarmenWrapper::m_frontLaser=0; +RangeSensor* CarmenWrapper::m_rearLaser=0; +bool CarmenWrapper::m_threadRunning=false; +OrientedPoint CarmenWrapper::m_truepos; +bool CarmenWrapper::stopped=true; + + +void CarmenWrapper::initializeIPC(const char* name) { + carmen_ipc_initialize(1,(char **)&name); +} + + + + +int CarmenWrapper::registerLocalizationMessages(){ + lock(); + IPC_RETURN_TYPE err; + + /* register globalpos message */ + err = IPC_defineMsg(CARMEN_LOCALIZE_GLOBALPOS_NAME, IPC_VARIABLE_LENGTH, + CARMEN_LOCALIZE_GLOBALPOS_FMT); + carmen_test_ipc_exit(err, "Could not define", CARMEN_LOCALIZE_GLOBALPOS_NAME); + + /* register robot particle message */ + err = IPC_defineMsg(CARMEN_LOCALIZE_PARTICLE_NAME, IPC_VARIABLE_LENGTH, + CARMEN_LOCALIZE_PARTICLE_FMT); + carmen_test_ipc_exit(err, "Could not define", CARMEN_LOCALIZE_PARTICLE_NAME); + +/* + carmen_localize_subscribe_initialize_placename_message(NULL, + (carmen_handler_t) + carmen_localize_initialize_placename_handler, + CARMEN_SUBSCRIBE_LATEST); + + // register map request message + err = IPC_defineMsg(CARMEN_LOCALIZE_MAP_QUERY_NAME, IPC_VARIABLE_LENGTH, + CARMEN_LOCALIZE_MAP_QUERY_FMT); + carmen_test_ipc_exit(err, "Could not define", + CARMEN_LOCALIZE_MAP_QUERY_NAME); + + err = IPC_defineMsg(CARMEN_LOCALIZE_MAP_NAME, IPC_VARIABLE_LENGTH, + CARMEN_LOCALIZE_MAP_FMT); + carmen_test_ipc_exit(err, "Could not define", CARMEN_LOCALIZE_MAP_NAME); + + // subscribe to map request message + err = IPC_subscribe(CARMEN_LOCALIZE_MAP_QUERY_NAME, map_query_handler, NULL); + carmen_test_ipc(err, "Could not subscribe", CARMEN_LOCALIZE_MAP_QUERY_NAME); + IPC_setMsgQueueLength(CARMEN_LOCALIZE_MAP_QUERY_NAME, 1); + + + // register globalpos request message + err = IPC_defineMsg(CARMEN_LOCALIZE_GLOBALPOS_QUERY_NAME, + IPC_VARIABLE_LENGTH, + CARMEN_DEFAULT_MESSAGE_FMT); + carmen_test_ipc_exit(err, "Could not define", + CARMEN_LOCALIZE_MAP_QUERY_NAME); + + // subscribe to globalpos request message + err = IPC_subscribe(CARMEN_LOCALIZE_GLOBALPOS_QUERY_NAME, + globalpos_query_handler, NULL); + carmen_test_ipc(err, "Could not subscribe", + CARMEN_LOCALIZE_GLOBALPOS_QUERY_NAME); + IPC_setMsgQueueLength(CARMEN_LOCALIZE_GLOBALPOS_QUERY_NAME, 1); +*/ + unlock(); + return 0; +} + +bool CarmenWrapper::start(const char* name){ + if (m_threadRunning) + return false; + carmen_robot_subscribe_frontlaser_message(NULL, (carmen_handler_t)robot_frontlaser_handler, CARMEN_SUBSCRIBE_LATEST); + carmen_robot_subscribe_rearlaser_message(NULL, (carmen_handler_t)robot_rearlaser_handler, CARMEN_SUBSCRIBE_LATEST); + carmen_simulator_subscribe_truepos_message(NULL,(carmen_handler_t) simulator_truepos_handler, CARMEN_SUBSCRIBE_LATEST); + + IPC_RETURN_TYPE err; + + err = IPC_subscribe(CARMEN_NAVIGATOR_GO_NAME, navigator_go_handler, NULL); + carmen_test_ipc_exit(err, "Could not subscribe", + CARMEN_NAVIGATOR_GO_NAME); + IPC_setMsgQueueLength(CARMEN_NAVIGATOR_GO_NAME, 1); + + err = IPC_subscribe(CARMEN_NAVIGATOR_STOP_NAME, navigator_stop_handler, NULL); + carmen_test_ipc_exit(err, "Could not subscribe", + CARMEN_NAVIGATOR_STOP_NAME); + IPC_setMsgQueueLength(CARMEN_NAVIGATOR_STOP_NAME, 1); + + + + signal(SIGINT, shutdown_module); + pthread_mutex_init(&m_mutex, 0); + pthread_mutex_init(&m_lock, 0); + sem_init(&m_dequeSem, 0, 0); + m_threadRunning=true; + pthread_create (&m_readingThread,0,m_reading_function,0); + return true; +} + +void CarmenWrapper::lock(){ + //cerr <<"LOCK" << endl; + pthread_mutex_lock(&m_lock); +} + +void CarmenWrapper::unlock(){ + //cerr <<"UNLOCK" << endl; + pthread_mutex_unlock(&m_lock); +} + + +bool CarmenWrapper::sensorMapComputed(){ + pthread_mutex_lock(&m_mutex); + bool smok=m_frontLaser; + pthread_mutex_unlock(&m_mutex); + return smok; +} + +const SensorMap& CarmenWrapper::sensorMap(){ + return m_sensorMap; +} + +bool CarmenWrapper::isRunning(){ + return m_threadRunning; +} + +bool CarmenWrapper::isStopped(){ + return stopped; +} + +int CarmenWrapper::queueLength(){ + int ql=0; + pthread_mutex_lock(&m_mutex); + ql=m_rangeDeque.size(); + pthread_mutex_unlock(&m_mutex); + return ql; +} + +OrientedPoint CarmenWrapper::getTruePos(){ + return m_truepos; +} + +bool CarmenWrapper::getReading(RangeReading& reading){ + bool present=false; + sem_wait(&m_dequeSem); + pthread_mutex_lock(&m_mutex); + if (!m_rangeDeque.empty()){ +// cerr << __func__ << ": queue size=" <num_readings, res, OrientedPoint(0,0,0), 0, 89.9); + m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor)); + + cout << __func__ + << ": FrontLaser configured." + << " Readings " << m_rangeSensor->beams().size() + << " Resolution " << res << endl; + } + + RangeReading reading(m_rangeSensor, frontlaser->timestamp); + reading.resize(m_rangeSensor->beams().size()); + for (unsigned int i=0; i< (unsigned int)frontlaser->num_readings; i++){ + reading[i]=(double)frontlaser->range[i]; + } + reading.setPose(OrientedPoint(frontlaser->x, frontlaser->y, frontlaser->theta)); +*/ + RangeReading reading=carmen2reading(*frontlaser); + addReading(reading); +} + +void CarmenWrapper::robot_rearlaser_handler(carmen_robot_laser_message* rearlaser) { +/* if (! m_rangeSensor){ + double res=0; + if (frontlaser->num_readings==180 || frontlaser->num_readings==181) + res=M_PI/180; + if (frontlaser->num_readings==360 || frontlaser->num_readings==361) + res=M_PI/360; + assert(res>0); + m_rangeSensor=new RangeSensor("FLASER",frontlaser->num_readings, res, OrientedPoint(0,0,0), 0, 89.9); + m_sensorMap.insert(make_pair(string("FLASER"), m_rangeSensor)); + + cout << __func__ + << ": FrontLaser configured." + << " Readings " << m_rangeSensor->beams().size() + << " Resolution " << res << endl; + } + + RangeReading reading(m_rangeSensor, frontlaser->timestamp); + reading.resize(m_rangeSensor->beams().size()); + for (unsigned int i=0; i< (unsigned int)frontlaser->num_readings; i++){ + reading[i]=(double)frontlaser->range[i]; + } + reading.setPose(OrientedPoint(frontlaser->x, frontlaser->y, frontlaser->theta)); +*/ + RangeReading reading=carmen2reading(*rearlaser); + addReading(reading); +} + + + + +void CarmenWrapper:: navigator_go_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void*) { + carmen_navigator_go_message msg; + FORMATTER_PTR formatter; + IPC_RETURN_TYPE err; + + formatter = IPC_msgInstanceFormatter(msgRef); + err = IPC_unmarshallData(formatter, callData, &msg, + sizeof(carmen_navigator_go_message)); + IPC_freeByteArray(callData); + + carmen_test_ipc_return + (err, "Could not unmarshall", IPC_msgInstanceName(msgRef)); + cerr<<"go"<truepose.x; + m_truepos.y=truepos->truepose.y; + m_truepos.theta=truepos->truepose.theta; +} + +RangeReading CarmenWrapper::carmen2reading(const carmen_robot_laser_message& msg){ + //either front laser or rear laser + double dth=msg.laser_pose.theta-msg.robot_pose.theta; + dth=atan2(sin(dth), cos(dth)); + + if (msg.laser_pose.theta==msg.robot_pose.theta && !m_frontLaser){ + double res=0; + res = msg.config.angular_resolution; +// if (msg.num_readings==180 || msg.num_readings==181) +// res=M_PI/180; +// if (msg.num_readings==360 || msg.num_readings==361) +// res=M_PI/360; + assert(res>0); + string sensorName="FLASER"; + OrientedPoint rpose(msg.robot_pose.x, msg.robot_pose.y, msg.robot_pose.theta); + OrientedPoint lpose(msg.laser_pose.x, msg.laser_pose.y, msg.laser_pose.theta); + OrientedPoint dp=absoluteDifference(lpose, rpose); + m_frontLaser=new RangeSensor(sensorName,msg.num_readings, res, OrientedPoint(0,0,msg.laser_pose.theta-msg.robot_pose.theta), 0, + msg.config.maximum_range); + m_frontLaser->updateBeamsLookup(); + m_sensorMap.insert(make_pair(sensorName, m_frontLaser)); + + cout << __func__ + << ": " << sensorName <<" configured." + << " Readings " << m_frontLaser->beams().size() + << " Resolution " << res << endl; + } + if (msg.laser_pose.theta!=msg.robot_pose.theta && !m_rearLaser){ + double res=0; + res = msg.config.angular_resolution; +// if (msg.num_readings==180 || msg.num_readings==181) +// res=M_PI/180; +// if (msg.num_readings==360 || msg.num_readings==361) +// res=M_PI/360; + assert(res>0); + OrientedPoint rpose(msg.robot_pose.x, msg.robot_pose.y, msg.robot_pose.theta); + OrientedPoint lpose(msg.laser_pose.x, msg.laser_pose.y, msg.laser_pose.theta); + OrientedPoint dp=absoluteDifference(lpose, rpose); + string sensorName="RLASER"; + m_rearLaser=new RangeSensor(sensorName,msg.num_readings, res, OrientedPoint(0,0,msg.laser_pose.theta-msg.robot_pose.theta), 0, + msg.config.maximum_range); + m_rearLaser->updateBeamsLookup(); + m_sensorMap.insert(make_pair(sensorName, m_rearLaser)); + + cout << __func__ + << ": " << sensorName <<" configured." + << " Readings " << m_rearLaser->beams().size() + << " Resolution " << res << endl; + } + + const RangeSensor * rs=(msg.laser_pose.theta==msg.robot_pose.theta)?m_frontLaser:m_rearLaser; + RangeReading reading(rs, msg.timestamp); + reading.resize(rs->beams().size()); + for (unsigned int i=0; i< (unsigned int)msg.num_readings; i++){ + reading[i]=(double)msg.range[i]; + } + reading.setPose(OrientedPoint(msg.robot_pose.x, msg.robot_pose.y, msg.robot_pose.theta)); + return reading; +} + +void CarmenWrapper::publish_globalpos(carmen_localize_summary_p summary) +{ + lock(); + static carmen_localize_globalpos_message globalpos; + IPC_RETURN_TYPE err; + + globalpos.timestamp = carmen_get_time(); + globalpos.host = carmen_get_host(); + globalpos.globalpos = summary->mean; + globalpos.globalpos_std = summary->std; + globalpos.globalpos_xy_cov = summary->xy_cov; + globalpos.odometrypos = summary->odometry_pos; + globalpos.converged = summary->converged; + err = IPC_publishData(CARMEN_LOCALIZE_GLOBALPOS_NAME, &globalpos); + carmen_test_ipc_exit(err, "Could not publish", + CARMEN_LOCALIZE_GLOBALPOS_NAME); + unlock(); +} + +/* publish a particle message */ + +void CarmenWrapper::publish_particles(carmen_localize_particle_filter_p filter, + carmen_localize_summary_p summary) +{ + lock(); + static carmen_localize_particle_message pmsg; + IPC_RETURN_TYPE err; + + pmsg.timestamp = carmen_get_time(); + pmsg.host = carmen_get_host(); + pmsg.globalpos = summary->mean; + pmsg.globalpos_std = summary->mean; + pmsg.num_particles = filter->param->num_particles; + pmsg.particles = (carmen_localize_particle_ipc_p)filter->particles; + err = IPC_publishData(CARMEN_LOCALIZE_PARTICLE_NAME, &pmsg); + carmen_test_ipc_exit(err, "Could not publish", + CARMEN_LOCALIZE_PARTICLE_NAME); + fprintf(stderr, "P"); + unlock(); +} + + + + + +void * CarmenWrapper::m_reading_function(void*){ + while (true) { + lock(); + IPC_listen(100); + unlock(); + usleep(20000); + } + return 0; +} + +void CarmenWrapper::shutdown_module(int sig){ + if(sig == SIGINT) { + carmen_ipc_disconnect(); + + fprintf(stderr, "\nDisconnecting (shutdown_module(%d) called).\n",sig); + exit(0); + } +} +/* +typedef struct { + int num_readings; + float *range; + char *tooclose; + double x, y, theta;//position of the laser on the robot + double odom_x, odom_y, odom_theta; //position of the center of the robot + double tv, rv; + double forward_safety_dist, side_safety_dist; + double turn_axis; + double timestamp; + char host[10]; +} carmen_robot_laser_message; +*/ + +carmen_robot_laser_message CarmenWrapper::reading2carmen(const RangeReading& reading){ + carmen_robot_laser_message frontlaser; + frontlaser.num_readings=reading.size(); + frontlaser.range = new float[frontlaser.num_readings]; + frontlaser.tooclose=0; + frontlaser.laser_pose.x=frontlaser.robot_pose.x=reading.getPose().x; + frontlaser.laser_pose.y=frontlaser.robot_pose.y=reading.getPose().y; + frontlaser.laser_pose.theta=frontlaser.robot_pose.theta=reading.getPose().theta; + frontlaser.tv=frontlaser.rv=0; + frontlaser.forward_safety_dist=frontlaser.side_safety_dist=0; + frontlaser.turn_axis=0; + frontlaser.timestamp=reading.getTime(); + for (unsigned int i=0; i< reading.size(); i++){ + frontlaser.range[i]=(float)reading[i]; + } + return frontlaser; +} + +carmen_point_t CarmenWrapper::point2carmen (const OrientedPoint& p){ + return (carmen_point_t){p.x,p.y,p.theta}; +} + +OrientedPoint CarmenWrapper::carmen2point (const carmen_point_t& p){ + return OrientedPoint(p.x, p.y, p.theta); +} + + +/* +int main (int argc, char** argv) { + CarmenWrapper::start(argc, argv); + while(1){ + sleep(2); + RangeReading reading(0,0); + while(CarmenWrapper::getReading(reading)){ + cout << "FLASER " << reading.size(); + for (int i=0; i +#include "gmapping/configfile/configfile.h" + +#include +#include + +#include +#include +#include +#include + +namespace GMapping{ +using namespace std; + +AutoVal::AutoVal(const std::string& value) { + m_value=value; +} + +AutoVal::AutoVal(const char* c) { + m_value=c; +} + +AutoVal::AutoVal(double d) { + std::stringstream s; + s<> name; + lineStream >> val; + insertValue(inSection,name,val); + } + return true; +} + +void ConfigFile::insertValue(const std::string& section, const std::string& entry, const std::string& thevalue) { + m_content[toLower(section)+'/'+toLower(entry)]=AutoVal(thevalue); +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry) const { + + std::map::const_iterator ci = + m_content.find(toLower(section) + '/' + toLower(entry)); + if (ci == m_content.end()) throw "entry does not exist"; + + return ci->second; +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, double def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, bool def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, int def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, unsigned int def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, const std::string& def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +const AutoVal& ConfigFile::value(const std::string& section, const std::string& entry, const char* def) { + try { + return value(section, entry); + } catch(const char *) { + return m_content.insert(std::make_pair(section+'/'+entry, AutoVal(def))).first->second; + } +} + +void ConfigFile::dumpValues(std::ostream& out) { + + for (std::map::const_iterator it = m_content.begin(); + it != m_content.end(); it++) { + out << (std::string) it->first << " " << (std::string)it->second << std::endl; + } +} + + +std::string ConfigFile::trim(const std::string& source, char const* delims) const { + std::string result(source); + std::string::size_type index = result.find_last_not_of(delims); + if(index != std::string::npos) + result.erase(++index); + + index = result.find_first_not_of(delims); + if(index != std::string::npos) + result.erase(0, index); + else + result.erase(); + return result; +} + +std::string ConfigFile::truncate(const std::string& source, const char* atChar) const { + std::string::size_type index = source.find_first_of(atChar); + + if(index == 0) + return ""; + else if(index == std::string::npos) { + return source; + } + return + source.substr(0,index); +} + +std::string ConfigFile::toLower(const std::string& source) const { + std::string result(source); + char c='\0'; + for (unsigned int i=0; i +#include +#include "gmapping/configfile/configfile.h" + +using namespace std; +using namespace GMapping; + +int main(int argc, char** argv) { + + if (argc != 2) { + cerr << "Usage: " << argv[0] << " [initifle]" << endl; + exit(0); + } + + ConfigFile cfg; + cfg.read(argv[argc-1]); + + cout << "-- values from configfile --" << endl; + cfg.dumpValues(cout); + + cout << "-- adding a value --" << endl; + cfg.value("unkown","unkown",std::string("the new value!")); + + + + + + cout << "-- values from configfile & added values --" << endl; + cfg.dumpValues(cout); + + if ( ((std::string) cfg.value("unkown","unkown",std::string("the new value!"))) != std::string("the new value!")) + cerr << "strange error, check strings" << endl; + + return 0; +} diff --git a/src/openslam_gmapping/configfile/demo.cfg b/src/openslam_gmapping/configfile/demo.cfg new file mode 100644 index 0000000..8c44d1f --- /dev/null +++ b/src/openslam_gmapping/configfile/demo.cfg @@ -0,0 +1,19 @@ +[mysection] + +mykey1 string_value_1 # comment +mykey2 string value 2 + + mykey3 string value 3 + +# mykey4 string value 3 + + # mykey5 string value 3 + +mykey6 1 +mykey7 1.7 + +mykey8 On + +mykey9 off + + diff --git a/src/openslam_gmapping/configfile/test.ini b/src/openslam_gmapping/configfile/test.ini new file mode 100644 index 0000000..5302d3f --- /dev/null +++ b/src/openslam_gmapping/configfile/test.ini @@ -0,0 +1,10 @@ + +[test] + +particles 30 + +onLine on +generateMap off + +teststr Hallo + diff --git a/src/openslam_gmapping/configure b/src/openslam_gmapping/configure new file mode 100755 index 0000000..592ac5f --- /dev/null +++ b/src/openslam_gmapping/configure @@ -0,0 +1,242 @@ +#!/bin/bash +#if [ "$UID" = 0 ]; then echo "Please don't run configure as root"; exit 1; fi + +LINUX=0 +MACOSX=0 + +if [ `uname` = "Linux" ]; then + LINUX=1 + OSTYPE=LINUX + CPPFLAGS="-DLINUX" +fi +if [ `uname` = "Darwin" ]; then + MACOSX=1 + CPPFLAGS="-DMACOSX" + OSTYPE=MACOSX +fi + +if [ ! $CXX ]; then + echo "No 'CXX' environment variable found, using g++."; + CXX="g++" +fi + +if [ ! $CC ]; then + echo "No 'CC' environment variable found, using gcc."; + CC="gcc" +fi + +if [ ! -x `which $CXX` ]; then + echo "Can't execute C++ compiler '$CXX'."; + exit 1; +else + echo "Using C++ compiler: $CXX" +fi + +if [ ! -x `which $CC` ]; then + echo "Can't execute C++ compiler '$CC'."; + exit 1; +else + echo "Using C compiler: $CC" +fi + +GCC_VERSION=`$CXX --version` + +echo -n "Checking for Qt 3.x ... " +for GUESS_QTDIR in `ls /usr/lib/ | grep -E "qt3|qt-3"`; do + if [ -d /usr/lib/$GUESS_QTDIR/include -a -d /usr/lib/$GUESS_QTDIR/lib -a -f /usr/lib/$GUESS_QTDIR/bin/moc ]; then + QT_INCLUDE="-I /usr/lib/$GUESS_QTDIR/include" + QT_LIB="-L /usr/lib/$GUESS_QTDIR/lib -lqt-mt" ; + MOC="/usr/lib/$GUESS_QTDIR/bin/moc" ; + fi ; +done ; +if [ ! "$QT_INCLUDE" ]; then + echo -e "\n\n*** Qt 3.x not found. I'll make some educated guesses. If this doesn't work, please set QT_INCLUDE, QT_LIB, MOC by hand in the file global.mk.\n\a" + #exit 1 + QT_INCLUDE="-I/usr/include/qt3"; + QT_LIB="-lqt-mt" ; + MOC="moc-qt3" ; +else + echo "Ok" ; +fi + +ARIASUPPORT="0" +echo -n "Checking for Aria libs " +for GUESS_ARIADIR in `ls /usr/local/ | grep -E "Aria"`; do + if [ -d /usr/local/$GUESS_ARIADIR/include -a -d /usr/local/$GUESS_ARIADIR/lib ]; then + ARIA_INCLUDE="-I/usr/local/$GUESS_ARIADIR/include" + ARIA_LIB="-L/usr/local/$GUESS_ARIADIR/lib -lAria" + ARIASUPPORT="1" + fi ; +done ; + +if [ ! "$ARIA_INCLUDE" ]; then + echo -e "\n\n*** ARIA not found, please set ARIA_INCLUDE and ARIA_LIB by hand\n\a" +else + echo "Ok" ; +fi + +#echo -n "Checking for Gsl libs " +#if [ "$OSTYPE" = "LINUX" ]; then +# GSL_LIB="-lgsl -lgslcblas" +# GSL_INCLUDE="-I/usr/include/" +#fi +#if [ "$OSTYPE" = "MACOSX" ]; then +# GSL_LIB="-L/sw/lib -lgsl -lgslcblas" +# GSL_INCLUDE="-I/sw/include" +#fi +# +#if [ ! "$GSL_INCLUDE" ]; then +# echo -e "\n\n*** GSL not found, please set GSL_INCLUDE and GSL_LIB by hand\n\a" +#else +# echo "Ok" ; +#fi + + +# echo -n "Checking for KDE 3.x includes ... " +# for GUESS_KDE_INCLUDE in /usr/include/kde /usr/include/kde3 /opt/kde3/include /opt/kde/include; do +# if [ -d $GUESS_KDE_INCLUDE ]; then +# KDE_INCLUDE="-I$GUESS_KDE_INCLUDE" +# fi ; +# done ; +# +# if [ ! "$KDE_INCLUDE" ]; then +# echo -e "\n\n*** KDE 3.x includes not found please set KDE_INCLUDE by hand\n\a" +# exit 1 +# else +# echo "Ok" ; +# fi +# +# echo -n "Checking for KDE 3.x libs ... " +# for GUESS_KDE_LIB in /usr/lib/kde3 /opt/kde3/lib; do +# if [ -d $GUESS_KDE_LIB ]; then +# KDE_LIB="-L$GUESS_KDE_LIB -lkdeui" +# fi ; +# done ; +# +# if [ ! "$KDE_LIB" ]; then +# echo -e "\n\n*** KDE 3.x libs not found please set KDE_LIBS by hand\n\a" +# exit 1 +# else +# echo "Ok" ; +# fi + + +# echo -n "Checking for uic ... " +# for GUESS_UIC in `ls /usr/bin/ | grep -E "uic|uic3"`; do +# if [ -f /usr/bin/$GUESS_UIC ]; then +# UIC=$GUESS_UIC; +# fi ; +# done ; +# +# if [ ! "$UIC" ]; then +# echo -e "\n\n*** uic not found please set UIC by hand\n\a" +# exit 1 +# else +# echo "Ok" ; +# fi + +MAPPING_ROOT=`pwd` + + +BINDIR=$MAPPING_ROOT/bin +echo -n "Checking bin directory $BINDIR ... " +if [ ! -d $BINDIR ]; then + mkdir $BINDIR + echo "created." +else + echo "Ok." +fi + +LIBDIR=$MAPPING_ROOT/lib +echo -n "Checking lib directory $LIBDIR ... " +if [ ! -d $LIBDIR ]; then + mkdir $LIBDIR + echo "created." +else + echo "Ok." +fi + +CARMENFLAG="" +CARMENSUPPORT="0" +CARMEN_LIBS="libnavigator_interface.a libipc.a librobot_interface.a liblaser_interface.a libsimulator_interface.a liblocalize_interface.a libreadlog.a libwritelog.a libglobal.a libipc.a" +if [ ! "$CARMEN_HOME" ]; then + echo -e "Carmen NOT FOUND." + echo -e "If you have a carmen version installed please set the" + echo -e "CARMEN_HOME variable to the carmen path." +else + if [ -d $CARMEN_HOME ]; then + echo -e "carmen found in $CARMEN_HOME, enabling support" + CARMENFLAG="-DCARMEN_SUPPORT" + echo -e "generating shared objects" + for CARMEN_OBJECT in $CARMEN_LIBS ; do + if [ -f $CARMEN_HOME/lib/$CARMEN_OBJECT ]; then + cp $CARMEN_HOME/lib/$CARMEN_OBJECT $LIBDIR + ./build_tools/generate_shared_object $LIBDIR/$CARMEN_OBJECT + rm $LIBDIR/$CARMEN_OBJECT + else + echo -e "Compile carmen first "$CARMEN_HOME/lib/$CARMEN_OBJECT" not found" + exit -1 + fi + done; + CARMENSUPPORT="1" + else + echo -e "CARMEN_HOME=$CARMEN_HOME does not exist, disabling support\n" + fi +fi + +CONFIG=global.mk +rm -f $CONFIG + +cat << EOF > $CONFIG +### You should not need to change anything below. +LINUX=$LINUX +MACOSX=$MACOSX + +# Compilers +CC=$CC +CXX=$CXX + +# Paths +MAPPING_ROOT=$MAPPING_ROOT +LIBDIR=$LIBDIR +BINDIR=$BINDIR + +# Build tools +PRETTY=$MAPPING_ROOT/build_tools/pretty_compiler +MESSAGE=$MAPPING_ROOT/build_tools/message +TESTLIB=$MAPPING_ROOT/build_tools/testlib + +# QT support +MOC=$MOC +QT_LIB=$QT_LIB +QT_INCLUDE=$QT_INCLUDE + +# ARIA support +ARIA_LIB=$ARIA_LIB +ARIA_INCLUDE=$ARIA_INCLUDE + + +# # KDE support +# KDE_LIB=$KDE_LIB +# KDE_INCLUDE=$KDE_INCLUDE +# UIC=$UIC + +# Generic makefiles +MAKEFILE_GENERIC=$MAPPING_ROOT/build_tools/Makefile.generic-shared-object +MAKEFILE_APP=$MAPPING_ROOT/build_tools/Makefile.app +MAKEFILE_SUBDIRS=$MAPPING_ROOT/build_tools/Makefile.subdirs + + +# Flags +CPPFLAGS+=$CPPFLAGS -I$MAPPING_ROOT $CARMENFLAG +CXXFLAGS+=$CXXFLAGS +LDFLAGS+=$LDFLAGS -Xlinker -rpath $MAPPING_ROOT/lib +CARMENSUPPORT=$CARMENSUPPORT +ARIASUPPORT=$ARIASUPPORT + +$OTHER + +include $MAPPING_ROOT/manual.mk + +EOF + diff --git a/src/openslam_gmapping/docs/Instructions.txt b/src/openslam_gmapping/docs/Instructions.txt new file mode 100644 index 0000000..a800598 --- /dev/null +++ b/src/openslam_gmapping/docs/Instructions.txt @@ -0,0 +1,146 @@ +**WHAT IS THIS + + Mapping is a suite for studying sonar and laser based mapping robotic mapping algorithms. + The name is only an attempt, and it will FOR SURE change in the next releases. + All of the code has been developed by Giorgio Grisetti , and is + released under the GPL license. + The software is able to process log files in the Carmen format. + In particular in the suite the following packages are provided: + 1)a scanmatcher based on gradient descent + 2)a (simple) implementation for landmark based FastSLAM + 3)a (very cool) grid_fast_slam algorithm + 4)a map builder for sonar data, based on forward model. + +**REQUIREMENTS: + + an X86 linux machine with + gcc>3.2.x + qt, libraries and development > 3.x + gsl, gnu scientific libraries > 1.3 + +**COMPILING AND INSTALLING: + + What to do for compiling the software: + 1) uncompress the archive + tar -xzvf mapping-xx.tgz + 2) change into the source directory + cd mapping + 3) set the LD_LIBRARY_PATH variable so that it includes the mapping/lib directory + . setlibpath + 4) generate the configuration files + ./configure + 5) compile the software + make + + At rhis point the following binaries should have been generated in the mapping/bin directory + + autoptr_test + converter + fastslam_test + fmp + gfs2log + gfs_gui + gfs_logplayer + gfs_test + hscanmatch_test + log_test + particlefilter_test + range_bearing + scanmatch_test + weakness + + while the mapping/lib directory should contain the following shared objects + + libconverter.so + libforwardmodel.so + libgui.so + libsensor_base.so + libsensor_range.so + libFastSLAM.so + libgridfastslam.so + liblog.so + libsensor_odometry.so + libutils.so + + Each library is generated from the corresponding directory, in the source tree. + Not all of the binaries in mapping/bin are useful, since most of them are test programs for + the libraries. + +**USING + + In the following we focus on the following tools: + -the scanmatcher + -the gridfastslam algorithm + and the related conversion tools + + SCANMATCHER: + the command line for the scan matcher is + + hscanmatch_test [options] -filename + + The rest of the options of the scan matcher are illustrated at the end of the document + + The scanmatcher generates a file named scanmatched-, that contains the laser readings and the robot poses corrected. + It is possible, suddenly, to process such a file with a tool for generating occupancy grids (like carmen), to obtain the map + from the log file. + + COMMAND LINE OPTIONS [scanmatcher] + + Here are the options that can be passed to the command line: integer, double string + -filename : the input log filename in carmen format + -xmax -xmin , + -ymax -ymin : the map size, in meters + -delta : the patchsize of the hierarchical map used (default 1m) + -patchDelta : the map discretization (default 0.1m) + -maxrange : maximum laser range + -maxUrange : maximum laser range usable by the algorithm + -regscore : the registration score for the scan, if over regscore the scan will be not registered in the map + -critscore : the critical score for the scan, if below cs the scan will be registered in the map using teh odometry. + must be lower than regscore. + -kernelSize : the (half) of the size of the convolution kernel (number of grid cells) minus 1 (default 0) + -sigma : the sigma of the convolution gaussian + -iterations : the number of recursive iteration used by the scan matcher + -lstep : the scanmatcher linear search step, in meters + -astep : the scanmatcher angular search step, in radians + -maxMove : the maximal move allowed in the log among adiacent scans + + GRIDFASTSLAM: + + The grid fast slam (gfs) algorithm is the coolest algorithm in the suite. + It allows to build maps with a fast slam based algorithm, by adopting a smart choice of the prior distribution. + There are three gfs tools here: + 1) the gui based tool (gfs_gui), which allows to track what is appening while building a map + 2) the off line tool (gfs_test), which allows to process a carmen log and to produce a *.gfs file (which is the gfs output format), + containing all of the informations produced by the algorithm while running + 3) the gfs2log utility, which converts the gfs outoput file in a log file, tracking the best particle. + It is possible to suddenly process the log file in order to obtain the occupancy grid as specified in the scanmatcher. + + The options of gfs_gui and gfs_test are the same, and moreover, since they are based on the scanmatcher, they accepts all of the options for the scanmatcher. + + + COMMAND LINE OPTIONS [gridfastslam] + + -outfilename : the output filename in gfs format; + -srr , -srt, + -str , -stt : the motion model parameters (sigma). see gridfastslam/MotionModel.{h,cpp} + -particles : the number of the particles to be used + -angularUpdate : the angular update distance, the algorithm executes an update step each time the traveled distance from the last + updates exceed this value; + -linearUpdate : the linear update distance, the algorithm executes an update step each time the traveled distance from the last + updates exceed this value; + -lsigma : sigma of the gaussian for evaluating the likelihood in the correlation based model; + -lobsGain : gain to be used while evaluating the likelihood, for smoothing the resampling effects + -lskip : the laser readings to skip in the likelihood evaluation; + parseInt("-mapUpdate", mapUpdateTime); + parseFlag("-drawFromObservation", m_drawFromObservation); + + GFS2LOG: + During the operation gfs_gui shows only the binary state of the best particle map cells. This results in a less accurate and less nice map + representation that the one allowed by the algorithm (which internally keeps track of the mean of the laser points falling in each cell). + In order to recover such a precision it is possible to recover a log from a gfsfile, through the command: + + gfs2log . + + and suddenly to recover the occupancy grid from the logfile. + + diff --git a/src/openslam_gmapping/docs/scanmatcher.tex b/src/openslam_gmapping/docs/scanmatcher.tex new file mode 100644 index 0000000..d2335d9 --- /dev/null +++ b/src/openslam_gmapping/docs/scanmatcher.tex @@ -0,0 +1,120 @@ +\documentclass[a4paper]{article} +\begin{document} +\title {An Incomplete Scan Matching Tutorial} +\author{Giorgio Grisetti} +\maketitle +In this document we provide an explanation of the basic concepts for developing a +simple maximum likelihood mapper for laser data. +We first introduce the notation, then we describe how to compute an occupancy grid map, given a known set od poses. Subsequantly we present a simple gradient based scan matchgin algorithm. + +\section{Notation} +\begin{itemize} +\item $x_t$: robot pose at time $t$. +\item $z_t=\underbrace{(z^1_t,\cdots,z^n_t)}_\mathrm{beams}$: +scan taken at time $t$. +\item $u_t$: odometry movement which brings the robot from $x_{t-1}$ to $x_{t}$, $t$. +\item $m_t=f_t(x,y)\rightarrow[0,1]$ occupancy grid map which can be seen as a function that maps each point in the probability of being occupied. +\end{itemize} + +\section{The Scan Matching Problem} +A scan matching algorithm works in two steps: +\begin{itemize} +\item it determines the most likely pose, given the actual measurements and the previously build best map: +\begin{equation} +\hat x_t = \mathop{argmax}_{x_t}(p(x_t|z_t, \hat x_{t-1}, m_{t-1}, u_t)) +\nonumber +\end{equation} +\item it computes the next step map given the previously built one, the corrected pose and the range reading: +\begin{equation} +p(m_t|m_{t-1}, \hat x_t, \hat z_t) +\nonumber +\end{equation} +\end{itemize} +In the following we present two simple approaches for performing these two steps. + +\section{Frequancy Based Occupancy grids} +An occupancy grid is a discrete world representation. It describes the world as a matrix, whose cells represents the probability of being occupied. The cells are considered independent. +Here we present a simple algorithm for updating an occupancy grid, based on a frequentist approach. + +For each cell of the map $m^{x,y}$ we keep two numbers: the number of times that cell has been visited $v^{x,y}$, and the number of times that cell has been found occupied $b^{x,y}$. + +Let $m_{t-1}$ be the map at the previous time step, $x_t$ the robot pose at time $t$ and $z_t=(z^1_t,\cdots,z^n_t)$ the reading. +We first consider the range reading translated according to the current robot pose +\begin{equation} +\hat z_t=(\hat z^1_t,\cdots, \hat z^n_t)=\hat x_t \oplus z_t +\end{equation} +Each beam $z^i_t$ can be described with its endpoint $\hat p^i_t$. +The cells in the map spanned by such a beam lies on the segment $(\hat x_t, \hat p^i_t)$. All the cells wich are before th endpoint are detected as free, while the endpoint is occupied. + +The we can incrementally update the cells of the map for each beam, in the following way: +\begin{equation} +m^{x,y}_t=(b^{x,y}_t,v^{x,y}_t)= +\left\{ +\begin{array}{cc} +(b^{x,y}_t+1,v^{x,y}_t+1) & \mathrm{if\;occupied}\\ +(b^{x,y}_t,v^{x,y}_t+1) & \mathrm{if\;free} +\end{array} +\right. +\end{equation} +The probability that a cell is pccupied is +\begin{equation} +p(m^{x,y}_t)=\frac{b^{x,y}_t}{v^{x,y}_t} +\end{equation} + +\newpage +\section{A simple gradient descent scan matcher} +Here we describe the simple scamnmatcher you find in this software bundle. +The basic principle of this algorithm is to perform a gradinent descent search, +on a score function $s(x,z,m)$ of the pose, th reading and the map. +The overall algorithm works as follows: +\begin{itemize} +\item $bestPose=x_\mathrm{init}$ +\item $bestScore=s(bestPose,z,m)$ +\item $searchStep=initialSearchStep$ +\item $iterations=0$ +\item while (!$iterations (bytes char[32]) + (int32) + (int32) + + + Primitive types + The payload may contain the following data types: + int8 (char) + int16 + int32 + int8 [] + int16 [] + int32 [] + All the data are serialized in network byte order (htons, htonl) + An array is serialized as + ... + where is an int32, and are the values. + + For converting data look at the functions + fromNetworkByteArray(...) + toNetworkByteArray(...) + in gnetwork/gformatters.h + + + Other Messages + All the message types inherite from the basic message, they change only the payload. + + laser message + robot pose message + robot sonar message + synchronized laser messages (laser messages with a pose) + robot commands (speed and jog) + + Here are the payload definitions: + -laser message: (laserServer/msgudplaser.h) + int16[] ranges //in centimeters + + -odometry massage: (robotServer/msgudprobot.h) + int32 counter //incremental serial packet counter + int32 x //in mm + int32 y //in mm + int32 heading //in 1/1000 of rad + int32 speed //in mm/s + int32 jog //in 1/1000 of rad/s + int32 stall_left //int32 + int32 stall_right //int32 + + -sonar message: (robotServer/msgudprobot.h) + we don't use in the camp, if you want take a look at the code + + -syncServer message payload: (synchServer/msgudpsynchro.h) + + (both the laser and pose message are in the payload with the basic message header). + + -robotCommand message: (robotServer/msgudprobot.h) + int32[] commands // the # of parameters should be less than MSG_UDP_ROBOT_MAX_COMMAND_ARGS + + + +Communication Protocol. +Server side: +-client subscription: +a client is subscripted to the list if it sends any message (also empty) to a server +-client unsubscription: +after a timeout the server does not receives a message it unsubscribes the client +-loop operation +each cycle the server sends the data to all subscribed clients and processes the messages. diff --git a/src/openslam_gmapping/gfs-carmen/Makefile b/src/openslam_gmapping/gfs-carmen/Makefile new file mode 100644 index 0000000..209b772 --- /dev/null +++ b/src/openslam_gmapping/gfs-carmen/Makefile @@ -0,0 +1,21 @@ +OBJS= +APPS= gfs-carmen + +LIBS+= -lcarmenwrapper -lgridfastslam -lconfigfile +CPPFLAGS+= -I ../sensor -I$(CARMEN_HOME)/include + +-include ../global.mk +ifeq ($(CARMENSUPPORT), 0) +APPS= +.PHONY: clean all + +all: + +clean: + +else + -include ../build_tools/Makefile.app +endif + + + diff --git a/src/openslam_gmapping/gfs-carmen/gfs-carmen.cpp b/src/openslam_gmapping/gfs-carmen/gfs-carmen.cpp new file mode 100644 index 0000000..eb20de4 --- /dev/null +++ b/src/openslam_gmapping/gfs-carmen/gfs-carmen.cpp @@ -0,0 +1,242 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include +#include +#include +#include +#include + +#define DEBUG cout << __func__ + +/* +Example file for interfacing carmen, and gfs. + +if you want to look for a specific topic search for one of the following keywords in the file comments + +KEYWORDS: + CREATION + INITIALIZATION + SENSOR MAP + BEST PARTICLE INDEX + PARTICLE VECTOR + PARTICLE TRAJECTORIES + BEST MAP + BOUNDING BOX +*/ + +using namespace GMapping; +using namespace std; + +int main(int argc, const char * const * argv){ + + std::string outfilename=""; + double xmin=-100.; + double ymin=-100.; + double xmax=100.; + double ymax=100.; + double delta=0.05; + + //scan matching parameters + double sigma=0.05; + double maxrange=80.; + double maxUrange=80.; + double regscore=1e4; + double lstep=.05; + double astep=.05; + int kernelSize=1; + int iterations=5; + double critscore=0.; + double maxMove=1.; + double lsigma=.075; + double ogain=3; + int lskip=0; + + //motion model parameters + double srr=0.01, srt=0.01, str=0.01, stt=0.01; + //particle parameters + int particles=30; + + + //gfs parameters + double angularUpdate=0.5; + double linearUpdate=1; + double resampleThreshold=0.5; + bool generateMap=true; + + std::string configfilename = ""; + + CMD_PARSE_BEGIN_SILENT(1,argc); + parseStringSilent("-cfg",configfilename); + CMD_PARSE_END_SILENT; + + if (configfilename.length()>0){ + ConfigFile cfg(configfilename); + outfilename = (std::string) cfg.value("gfs","outfilename",outfilename); + xmin = cfg.value("gfs","xmin", xmin); + xmax = cfg.value("gfs","xmax",xmax); + ymin = cfg.value("gfs","ymin",ymin); + ymax = cfg.value("gfs","ymax",ymax); + delta = cfg.value("gfs","delta",delta); + maxrange = cfg.value("gfs","maxrange",maxrange); + maxUrange = cfg.value("gfs","maxUrange",maxUrange); + regscore = cfg.value("gfs","regscore",regscore); + critscore = cfg.value("gfs","critscore",critscore); + kernelSize = cfg.value("gfs","kernelSize",kernelSize); + sigma = cfg.value("gfs","sigma",sigma); + iterations = cfg.value("gfs","iterations",iterations); + lstep = cfg.value("gfs","lstep",lstep); + astep = cfg.value("gfs","astep",astep); + maxMove = cfg.value("gfs","maxMove",maxMove); + srr = cfg.value("gfs","srr", srr); + srt = cfg.value("gfs","srt", srt); + str = cfg.value("gfs","str", str); + stt = cfg.value("gfs","stt", stt); + particles = cfg.value("gfs","particles",particles); + angularUpdate = cfg.value("gfs","angularUpdate", angularUpdate); + linearUpdate = cfg.value("gfs","linearUpdate", linearUpdate); + lsigma = cfg.value("gfs","lsigma", lsigma); + ogain = cfg.value("gfs","lobsGain", ogain); + lskip = (int)cfg.value("gfs","lskip", lskip); + // randseed = cfg.value("gfs","randseed", randseed); + resampleThreshold = cfg.value("gfs","resampleThreshold", resampleThreshold); + generateMap = cfg.value("gfs","generateMap", generateMap); + } + + + CMD_PARSE_BEGIN(1,argc); + parseString("-cfg",configfilename); + parseString("-outfilename",outfilename); + parseDouble("-xmin",xmin); + parseDouble("-xmax",xmax); + parseDouble("-ymin",ymin); + parseDouble("-ymax",ymax); + parseDouble("-delta",delta); + parseDouble("-maxrange",maxrange); + parseDouble("-maxUrange",maxUrange); + parseDouble("-regscore",regscore); + parseDouble("-critscore",critscore); + parseInt("-kernelSize",kernelSize); + parseDouble("-sigma",sigma); + parseInt("-iterations",iterations); + parseDouble("-lstep",lstep); + parseDouble("-astep",astep); + parseDouble("-maxMove",maxMove); + parseDouble("-srr", srr); + parseDouble("-srt", srt); + parseDouble("-str", str); + parseDouble("-stt", stt); + parseInt("-particles",particles); + parseDouble("-angularUpdate", angularUpdate); + parseDouble("-linearUpdate", linearUpdate); + parseDouble("-lsigma", lsigma); + parseDouble("-lobsGain", ogain); + parseInt("-lskip", lskip); + parseDouble("-resampleThreshold", resampleThreshold); + parseFlag("-generateMap", generateMap); + CMD_PARSE_END; + + cerr << "Parameter parsed, connecting to Carmen!"; + + CarmenWrapper::initializeIPC(argv[0]); + CarmenWrapper::start(argv[0]); + + while (! CarmenWrapper::sensorMapComputed()){ + usleep(500000); + cerr << "." << flush; + } + + //CREATION + + GridSlamProcessor* processor=new GridSlamProcessor; + + //SENSOR MAP + //loads from the carmen wrapper the laser and robot settings + SensorMap sensorMap=CarmenWrapper::sensorMap(); + cerr << "Connected " << endl; + processor->setSensorMap(sensorMap); + + //set the command line parameters + processor->setMatchingParameters(maxUrange, maxrange, sigma, kernelSize, lstep, astep, iterations, lsigma, ogain, lskip); + processor->setMotionModelParameters(srr, srt, str, stt); + processor->setUpdateDistances(linearUpdate, angularUpdate, resampleThreshold); + processor->setgenerateMap(generateMap); + OrientedPoint initialPose(xmin+xmax/2, ymin+ymax/2, 0); + + + //INITIALIZATION + processor->init(particles, xmin, ymin, xmax, ymax, delta, initialPose); + if (outfilename.length()>0) + processor->outputStream().open(outfilename.c_str()); + + bool running=true; + + GridSlamProcessor* ap, *copy=processor->clone(); + ap=processor; processor=copy; copy=ap; + + //this is the CORE LOOP; + RangeReading rr(0,0); + while (running){ + while (CarmenWrapper::getReading(rr)){ + + + bool processed=processor->processScan(rr); + + //this returns true when the algorithm effectively processes (the traveled path since the last processing is over a given threshold) + if (processed){ + cerr << "PROCESSED" << endl; + //for searching for the BEST PARTICLE INDEX + // unsigned int best_idx=processor->getBestParticleIndex(); + + //if you want to access to the PARTICLE VECTOR + const GridSlamProcessor::ParticleVector& particles = processor->getParticles(); + //remember to use a const reference, otherwise it copys the whole particles and maps + + //this is for recovering the tree of PARTICLE TRAJECTORIES (obtaining the ancestor of each particle) + cerr << "Particle reproduction story begin" << endl; + for (unsigned int i=0; i" << i << " "; + } + cerr << "Particle reproduction story end" << endl; +/* + //then if you want to access the BEST MAP, + //of course by copying it in a plain structure + Map* mymap = processor->getParticles()[best_idx].map.toDoubleMap(); + //at this point mymap is yours. Can do what you want. + + double best_weight=particles[best_idx].weightSum; + cerr << "Best Particle is " << best_idx << " with weight " << best_weight << endl; + +*/ + cerr << __func__ << "CLONING... " << endl; + GridSlamProcessor* newProcessor=processor->clone(); + cerr << "DONE" << endl; + cerr << __func__ << "DELETING... " << endl; + delete processor; + cerr << "DONE" << endl; + processor=newProcessor; + } + } + } + return 0; +} + diff --git a/src/openslam_gmapping/grid/Makefile b/src/openslam_gmapping/grid/Makefile new file mode 100644 index 0000000..22de055 --- /dev/null +++ b/src/openslam_gmapping/grid/Makefile @@ -0,0 +1,9 @@ +OBJS= +APPS= map_test + +LDFLAGS+= +CPPFLAGS+= -DNDEBUG + +-include ../global.mk +-include ../build_tools/Makefile.app + diff --git a/src/openslam_gmapping/grid/graphmap.cpp b/src/openslam_gmapping/grid/graphmap.cpp new file mode 100644 index 0000000..a56253e --- /dev/null +++ b/src/openslam_gmapping/grid/graphmap.cpp @@ -0,0 +1,59 @@ +#ifndef GRAPHMAP_H +#define GRAPHMAP_H +#include +#include +#include +#include + +namespace GMapping { + +class RasterMap; + +struct GraphMapPatch{ + typedef typename std::list PointList; + /**Renders the map relatively to the center of the patch*/ + //void render(RenderMap rmap); + /**returns the lower left corner of the patch, relative to the center*/ + //Point minBoundary() const; + /**returns the upper right corner of the patch, relative to the center*/ + //Point maxBoundary() const; // + + OrientedPoint center; + PointList m_points; +}; + +struct Covariance3{ + double sxx, sxy, sxt, syy, syt ,stt; +}; + +struct GraphMapEdge{ + Covariance3 covariance; + GraphMapPatch* first, *second; + inline operator double() const{ + return sqrt((first->center-second->center)*(first->center-second->center)); + } +}; + + +struct GraphPatchGraph: public Graph{ + void addEdge(Vertex* v1, Vertex* v2, const Covariance3& covariance); +}; + +void GraphPatchGraph::addEdge(GraphPatchGraph::Vertex* v1, GraphPatchGraph::VertexVertex* v2, + const Covariance3& cov){ + GraphMapEdge gme; + gme.covariance=cov; + gme.first=v1; + gme.second=v2; + return Graph::addEdge(v1,v2,gme); +} + +struct GraphPatchDirectoryCell: public std::set { + GraphPatchDirectoryCell(double); +}; + +typedef Map, Array2D::set > + +}; + +#endif \ No newline at end of file diff --git a/src/openslam_gmapping/grid/map_test.cpp b/src/openslam_gmapping/grid/map_test.cpp new file mode 100644 index 0000000..3b7157c --- /dev/null +++ b/src/openslam_gmapping/grid/map_test.cpp @@ -0,0 +1,62 @@ +#include +#include "gmapping/grid/map.h" +#include "gmapping/grid/harray2d.h" + +using namespace std; +using namespace GMapping; + +struct SimpleCell{ + int value; + SimpleCell(int v=0){value=v;} + static const SimpleCell& Unknown(); + static SimpleCell* address; +}; + +SimpleCell* SimpleCell::address=0; + +const SimpleCell& SimpleCell::Unknown(){ + if (address) + return *address; + address=new SimpleCell(-1); + return *address; +} + +typedef Map< SimpleCell, HierarchicalArray2D > CGrid; + +int main (int argc, char ** argv){ + CGrid g1(Point(0.,0.), 200, 200, 0.1); + CGrid g2(Point(10.,10.), 200, 200, 0.1); + { + HierarchicalArray2D::PointSet ps; + IntPoint pp=g1.world2map(Point(5.1,5.1)); + cout << pp.x << " " << pp.y << endl; + ps.insert(pp); + g1.storage().setActiveArea(ps,false); + g1.storage().allocActiveArea(); + g1.cell(Point(5.1,5.1)).value=5; + cout << "cell value" << (int) g1.cell(Point(5.1,5.1)).value << endl; + g1.resize(-150, -150, 150, 150); + cout << "cell value" << (int) g1.cell(Point(5.1,5.1)).value << endl; + CGrid g3(g1); + g1=g2; + } + cerr << "copy and modify test" << endl; + CGrid *ap,* gp1=new CGrid(Point(0,0), 200, 200, 0.1); + CGrid* gp0=new CGrid(*gp1); + for (int i=1; i<10; i++){ + ap=new CGrid(*gp1); + delete gp1; + gp1=gp0; + gp0=ap; + IntPoint pp=gp0->world2map(Point(5.1,5.1)); + HierarchicalArray2D::PointSet ps; + ps.insert(pp); + gp1->storage().setActiveArea(ps,false); + gp1->storage().allocActiveArea(); + gp1->cell(Point(5.1,5.1)).value=i; + cout << "cell value" << (int) gp1->cell(Point(5.1,5.1)).value << endl; + } + delete gp0; + delete gp1; + return 0; +} diff --git a/src/openslam_gmapping/gridfastslam/Makefile b/src/openslam_gmapping/gridfastslam/Makefile new file mode 100644 index 0000000..c73cec1 --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/Makefile @@ -0,0 +1,10 @@ +OBJS= gridslamprocessor_tree.o motionmodel.o gridslamprocessor.o gfsreader.o +APPS= gfs2log gfs2rec gfs2neff #gfs2stat + +#LDFLAGS+= -lutils -lsensor_range -llog -lscanmatcher -lsensor_base -lsensor_odometry $(GSL_LIB) +LDFLAGS+= -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils +#CPPFLAGS+=-I../sensor $(GSL_INCLUDE) +CPPFLAGS+=-I../sensor + +-include ../global.mk +-include ../build_tools/Makefile.generic-shared-object diff --git a/src/openslam_gmapping/gridfastslam/gfs2log.cpp b/src/openslam_gmapping/gridfastslam/gfs2log.cpp new file mode 100644 index 0000000..e688e77 --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gfs2log.cpp @@ -0,0 +1,64 @@ +#include +#include +#include +#include +#include +#include +#include +#include "gmapping/gridfastslam/gfsreader.h" + +#define MAX_LINE_LENGHT (1000000) + +using namespace std; +using namespace GMapping; +using namespace GMapping::GFSReader; + +int main (int argc, const char * const * argv){ + if (argc<3){ + cout << "usage gfs2log [-err] [-neff] [-part] [-odom] " << endl; + cout << " -odom : dump raw odometry in ODOM message instead of inpolated corrected one" << endl; + return -1; + } + bool err=0; + bool neff=0; + bool part=0; + bool odom=0; + // int particle_num; + unsigned int c=1; + if (!strcmp(argv[c],"-err")){ + err=true; + c++; + } + if (!strcmp(argv[c],"-neff")){ + neff=true; + c++; + } + if (!strcmp(argv[c],"-part")){ + part=true; + c++; + } + if (!strcmp(argv[c],"-odom")){ + odom=true; + c++; + } + ifstream is(argv[c]); + if (!is){ + cout << "could read file "<< endl; + return -1; + } + c++; + RecordList rl; + rl.read(is); + unsigned int bestidx=rl.getBestIdx(); + cout << endl << "best index = " << bestidx<< endl; + ofstream os(argv[c]); + if (! os){ + cout << "could write file "<< endl; + return -1; + } + rl.printPath(os,bestidx,err,odom); + if(part) + rl.printLastParticles(os); + os.close(); + return 0; +} diff --git a/src/openslam_gmapping/gridfastslam/gfs2neff.cpp b/src/openslam_gmapping/gridfastslam/gfs2neff.cpp new file mode 100644 index 0000000..5faad99 --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gfs2neff.cpp @@ -0,0 +1,40 @@ +#include +#include +#include +#include + +using namespace std; + +int main(int argc, char**argv){ + if (argc<3){ + cout << "usage gfs2neff " << endl; + return -1; + } + ifstream is(argv[1]); + if (!is){ + cout << "could read file "<< endl; + return -1; + } + ofstream os(argv[2]); + if (! os){ + cout << "could write file "<< endl; + return -1; + } + unsigned int frame=0; + double neff=0; + while(is){ + char buf[8192]; + is.getline(buf, 8192); + istringstream lineStream(buf); + string recordType; + lineStream >> recordType; + if (recordType=="FRAME"){ + lineStream>> frame; + } + if (recordType=="NEFF"){ + lineStream>> neff; + os << frame << " " << neff << endl; + } + } + os.close(); +} diff --git a/src/openslam_gmapping/gridfastslam/gfs2rec.cpp b/src/openslam_gmapping/gridfastslam/gfs2rec.cpp new file mode 100644 index 0000000..5eb65fa --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gfs2rec.cpp @@ -0,0 +1,406 @@ +#include +#include +#include +#include +#include +#include +#include + +#define MAX_LINE_LENGHT (1000000) + +using namespace GMapping; +using namespace std; + +struct Record{ + unsigned int dim; + double time; + virtual ~Record(){} + virtual void read(istream& is)=0; + virtual void write(ostream& os){}; +}; + +struct CommentRecord: public Record{ + string text; + virtual void read(istream& is){ + char buf[MAX_LINE_LENGHT]; + memset(buf,0, MAX_LINE_LENGHT*sizeof(char)); + is.getline(buf, MAX_LINE_LENGHT); + text=string(buf); + } + virtual void write(ostream& os){ + os << "#GFS_COMMENT: " << text << endl; + } +}; + +struct PoseRecord: public Record{ + PoseRecord(bool ideal=false){ + truePos=ideal; + } + bool truePos; + OrientedPoint pose; + void read(istream& is){ + is >> pose.x >> pose.y >> pose.theta; + time = 0; + if (is) + is >> time; + } + virtual void write(ostream& os){ + if (truePos) + os << "POS-CORR"; + else + os << "POS "; + // FIXME os << floor(time) << " " << (int) (time-floor(time)*1e6) << ": "; + os << "0 0: "; + os << pose.x*100 << " " << pose.y*100 << " " << 180/M_PI*pose.theta << endl; + } +}; + +struct NeffRecord: public Record{ + double neff; + void read(istream& is){ + is >> neff; + } + virtual void write(ostream& os){ + os << "NEFF " << neff << endl; + } +}; + + +struct OdometryRecord: public Record{ + vector poses; + virtual void read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + OrientedPoint p; + double w; + is >> p.x; + is >> p.y; + is >> p.theta; + is >> w; + poses.push_back(p); + } + time = 0; + if (is) + is >> time; + } +}; + + +struct ScanMatchRecord: public Record{ + vector poses; + vector weights; + virtual void read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + OrientedPoint p; + double w; + is >> p.x; + is >> p.y; + is >> p.theta; + is >> w; + poses.push_back(p); + weights.push_back(w); + } + } +}; + +struct LaserRecord: public Record{ + vector readings; + OrientedPoint pose; + virtual void read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + double r; + is >> r; + readings.push_back(r); + } + is >> pose.x; + is >> pose.y; + is >> pose.theta; + time = 0; + if (is) + is >> time; + } + + // dummy, &sec, &usec, &nLas, &nVal, &range ) == EOF) { + + virtual void write(ostream& os){ + os << "POS "; + // FIXME os << floor(time) << " " << (int) (time-floor(time)*1e6) << ": "; + os << "0 0: "; + os << pose.x*100 << " " << pose.y*100 << " " << 180/M_PI*pose.theta << endl; + + os << "LASER-RANGE "; + // FIXME os << floor(time) << " " << (int) (time-floor(time)*1e6) << ": "; + os << " 0 0 0 " << dim << " 180. : "; + for (unsigned int i=0; i< dim; i++){ + os <<" "<< readings[i]*100 ; + } + os << endl; + }; +}; + +struct ResampleRecord: public Record{ + vector indexes; + virtual void read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + unsigned int j; + is >> j; + indexes.push_back(j); + } + } +}; + +struct RecordList: public list{ + mutable int sampleSize; + + istream& read(istream& is){ + while(is){ + char buf[8192]; + is.getline(buf, 8192); + istringstream lineStream(buf); + string recordType; + lineStream >> recordType; + Record* rec=0; + if (recordType=="LASER_READING"){ + rec=new LaserRecord; + cout << "l" << flush; + } + if (recordType=="ODO_UPDATE"){ + rec=new OdometryRecord; + cout << "o" << flush; + } + if (recordType=="SM_UPDATE"){ + rec=new ScanMatchRecord; + cout << "m" << flush; + } + if (recordType=="SIMULATOR_POS"){ + rec=new PoseRecord(true); + cout << "t" << flush; + } + if (recordType=="RESAMPLE"){ + rec=new ResampleRecord; + cout << "r" << flush; + } + if (recordType=="NEFF"){ + rec=new NeffRecord; + cout << "n" << flush; + } + if (recordType=="COMMENT"){ + rec=new CommentRecord; + cout << "c" << flush; + } + if (rec){ + rec->read(lineStream); + push_back(rec); + } + } + return is; + } + + double getLogWeight(unsigned int i) const{ + double weight=0; + unsigned int currentIndex=i; + for(RecordList::const_reverse_iterator it=rbegin(); it!=rend(); it++){ + ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + weight+=scanmatch->weights[currentIndex]; + } + ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + } + } + return weight; + } + unsigned int getBestIdx() const { + if (empty()) + return 0; + const ScanMatchRecord* scanmatch=0; + const_reverse_iterator it=rbegin(); + while(!scanmatch){ + scanmatch=dynamic_cast(*it); + it++; + } + unsigned int dim=scanmatch->dim; + sampleSize=(int)dim; + double bestw=-1e200; + unsigned int best=scanmatch->dim+1; + for (unsigned i=0; ibestw){ + best=i; + bestw=w; + } + } + return best; + } + + void printPath(ostream& os, unsigned int i, bool err=false) const{ + unsigned int currentIndex=i; + OrientedPoint p(0,0,0); + + RecordList rl; + + //reconstruct a path + for(RecordList::const_reverse_iterator it=rbegin(); it!=rend(); it++){ + const NeffRecord* neff=dynamic_cast(*it); + if (neff){ + NeffRecord* n=new NeffRecord(*neff); + rl.push_front(n); + } + const ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + PoseRecord* pose=new PoseRecord; + pose->dim=0; + p=pose->pose=scanmatch->poses[currentIndex]; + rl.push_front(pose); + } + const OdometryRecord* odometry=dynamic_cast(*it); + if (odometry){ + PoseRecord* pose=new PoseRecord; + pose->dim=0; + p=pose->pose=odometry->poses[currentIndex]; + pose->time=odometry->time; + rl.push_front(pose); + } + const PoseRecord* tpose=dynamic_cast(*it); + if (tpose){ + PoseRecord* pose=new PoseRecord(*tpose); + rl.push_front(pose); + } + const LaserRecord* laser=dynamic_cast(*it); + if (laser){ + LaserRecord* claser=new LaserRecord(*laser); + claser->pose=p; + rl.push_front(claser); + } + const CommentRecord* comment=dynamic_cast(*it); + if (comment){ + CommentRecord* ccomment=new CommentRecord(*comment); + rl.push_front(ccomment); + } + const ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + ResampleRecord* r= new ResampleRecord(*resample); + rl.push_front(r); + } + } + bool started=false; + double ox=0, oy=0, rxx=0, rxy=0, ryx=0, ryy=0, rth=0; + bool computedTransformation=false; + bool truePosFound=false; + OrientedPoint truePose(0,0,0); + OrientedPoint currPose(0,0,0); + bool tpf=false; + double neff=0; + unsigned int count=0; + for(RecordList::iterator it=rl.begin(); it!=rl.end(); it++){ + NeffRecord* neffr=dynamic_cast(*it); + if (neffr) + neff=neffr->neff/(double)sampleSize; + started=started || dynamic_cast(*it)?true:false; + if (started && ! truePosFound){ + PoseRecord* tpose=dynamic_cast(*it); + if (tpose && tpose->truePos){ + truePosFound=true; + tpf=true; + truePose=tpose->pose; + os << "# "; + (*it)->write(os); + } + } + if (started && truePosFound && ! computedTransformation){ + PoseRecord* pos=dynamic_cast(*it); + if (pos && !pos->truePos){ + OrientedPoint pose=pos->pose; + rth=truePose.theta-pose.theta; + double s=sin(rth), c=cos(rth); + rxx=ryy=c; + rxy=-s; ryx=s; + ox=truePose.x-(rxx*pose.x+rxy*pose.y); + oy=truePose.y-(ryx*pose.x+ryy*pose.y); + computedTransformation=true; + os << "# "; + (*it)->write(os); + + } + } + ResampleRecord* resample=dynamic_cast(*it); + if(resample){ + os << "MARK-POS 0 0: " <(*it); + if (pos){ + if (pos->truePos){ + tpf=true; + truePose=pos->pose; + } else { + if (tpf){ + tpf=false; + OrientedPoint pose=pos->pose; + double ex, ey, eth=truePose.theta-pose.theta-rth; + ex=truePose.x-(ox+rxx*pose.x+rxy*pose.y); + ey=truePose.y-(oy+ryx*pose.x+ryy*pose.y); + eth=atan2(sin(eth), cos(eth)); + if (! err) + os << "# ERROR "; + os << neff << " " + << ex << " " << ey << " " << eth + << " " << sqrt(ex*ex+ey*ey) << " " << fabs(eth) << endl; + } + } + } + + } + PoseRecord* pos=dynamic_cast(*it); + if (pos) + currPose=pos->pose; + + if (! err) + (*it)->write(os); + delete *it; + } + } +}; + + + +int main (int argc, const char * const * argv){ + if (argc<3){ + cout << "usage gfs2rec [-err] " << endl; + return -1; + } + bool err=0; + bool neff=0; + unsigned int c=1; + if (!strcmp(argv[c],"-err")){ + err=true; + c++; + } + if (!strcmp(argv[c],"-neff")){ + neff=true; + c++; + } + ifstream is(argv[c]); + if (!is){ + cout << "could read file "<< endl; + return -1; + } + c++; + RecordList rl; + rl.read(is); + unsigned int bestidx=rl.getBestIdx(); + cout << endl << "best index = " << bestidx<< endl; + ofstream os(argv[c]); + if (! os){ + cout << "could write file "<< endl; + return -1; + } + rl.printPath(os,bestidx,err); + os.close(); + return 0; +} diff --git a/src/openslam_gmapping/gridfastslam/gfs2stat.cpp b/src/openslam_gmapping/gridfastslam/gfs2stat.cpp new file mode 100644 index 0000000..107c19a --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gfs2stat.cpp @@ -0,0 +1,58 @@ +#include +#include +#include +#include +#include "gmapping/gridfastslam/gfsreader.h" + +using namespace std; +using namespace GMapping; +using namespace GMapping::GFSReader; + + +int main(int argc, char ** argv){ + if (argc<2){ + cout << "usage gfs2stat " << endl; + return 0; + } + ifstream is(argv[1]); + if (!is){ + cout << "no file found: " << argv[1] << endl; + return 0; + } + ofstream os(argv[2]); + if (!os){ + cout << "cannot open file: " << argv[1] << endl; + return 0; + } + cout << "loading... "<< flush; + RecordList rl; + rl.read(is); + cout << " done" << endl; + int count=-1; + for (RecordList::const_iterator it=rl.begin(); it!=rl.end(); it++){ + + count++; + const ScanMatchRecord* rec=dynamic_cast(*it); + if (!rec) + continue; + Gaussian3 gaussian; + /* + vector nweights; + cout << "N"<< flush; + back_insert_iterator< vector > out(nweights); + toNormalForm(out,rec->weights.begin(), rec->weights.end()); + cout << "G"<< flush; + gaussian.computeFromSamples(rec->poses, nweights); + */ + gaussian.computeFromSamples(rec->poses); + cout << "E"<< flush; + os << count <<" "; + os << gaussian.mean.x <<" "; + os << gaussian.mean.y <<" "; + os << gaussian.mean.theta <<" "; + os << gaussian.covariance.eval[0] <<" "; + os << gaussian.covariance.eval[1] <<" "; + os << gaussian.covariance.eval[2] < +#include +#include +#include +#include +#include +#include +#include "gmapping/gridfastslam/gfsreader.h" +#define MAX_LINE_LENGHT (1000000) + +using namespace std; +using namespace GMapping; +using namespace GMapping::GFSReader; + +computeBoundingBox() + + +int main (unsigned int argc, const char * const * argv) + double delta = 0.1; + double skip = 2; + double rotate = 0; + double maxrange = 0; + + if (argc<3){ + cout << "usage gfs2stream [-step Number] " << endl; + return -1; + } + + + CMD_PARSE_BEGIN(1,argc-2); + + CMD_PARSE_END; + + if (argc<3){ + cout << "usage gfs2stream [-step Number] " << endl; + return -1; + } + bool err=0; + bool neff=0; + bool part=0; + unsigned int c=1; + if (!strcmp(argv[c],"-err")){ + err=true; + c++; + } + if (!strcmp(argv[c],"-neff")){ + neff=true; + c++; + } + if (!strcmp(argv[c],"-part")){ + part=true; + c++; + } + ifstream is(argv[c]); + if (!is){ + cout << "could read file "<< endl; + return -1; + } + c++; + RecordList rl; + rl.read(is); + unsigned int bestidx=rl.getBestIdx(); + cout << endl << "best index = " << bestidx<< endl; + ofstream os(argv[c]); + if (! os){ + cout << "could write file "<< endl; + return -1; + } + rl.printPath(os,bestidx,err); + if(part) + rl.printLastParticles(os); + os.close(); + return 0; +} diff --git a/src/openslam_gmapping/gridfastslam/gfsreader.cpp b/src/openslam_gmapping/gridfastslam/gfsreader.cpp new file mode 100644 index 0000000..ba892e5 --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gfsreader.cpp @@ -0,0 +1,506 @@ +#include +#include "gmapping/gridfastslam/gfsreader.h" +#include +#include + +namespace GMapping { + +namespace GFSReader{ + +Record::~Record(){} +void Record::write(ostream& os){}; + +void CommentRecord::read(istream& is){ + char buf[MAX_LINE_LENGHT]; + memset(buf,0, MAX_LINE_LENGHT*sizeof(char)); + is.getline(buf, MAX_LINE_LENGHT); + text=string(buf); +} + +void CommentRecord::write(ostream& os){ + os << "#GFS_COMMENT: " << text << endl; +} + +PoseRecord::PoseRecord(bool ideal){ + truePos=ideal; +} +void PoseRecord::read(istream& is){ + is >> pose.x >> pose.y >> pose.theta; + time = 0; + if (is) + is >> time; +} +void PoseRecord::write(ostream& os){ + if (truePos) + os << "TRUEPOS "; + else + os << "ODOM "; + os << setiosflags(ios::fixed) << setprecision(6); + os << pose.x << " " << pose.y << " " << pose.theta << " 0 0 0 "; + os << time << " pippo " << time << endl; +} + +void NeffRecord::read(istream& is){ + is >> neff; + time =0; + if (is) + is >> time; + +} + +void NeffRecord::write(ostream& os){ + os << "NEFF " << neff ; + os << setiosflags(ios::fixed) << setprecision(6); + os << " " << time << " pippo " << time << endl; +} + + +void OdometryRecord::read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + OrientedPoint p; + double w; + is >> p.x; + is >> p.y; + is >> p.theta; + is >> w; + poses.push_back(p); + } + time = 0; + if (is) + is >> time; +} + +void RawOdometryRecord::read(istream& is){ + is >> pose.x; + is >> pose.y; + is >> pose.theta; + time = 0; + assert(is); + is >> time; + +} + + +void EntropyRecord::read(istream& is){ + is >> poseEntropy >> trajectoryEntropy >> mapEntropy; + time =0; + if (is) + is >> time; +} + +void EntropyRecord::write(ostream& os){ + os << setiosflags(ios::fixed) << setprecision(6) << "ENTROPY " << poseEntropy << " " << trajectoryEntropy << " " << mapEntropy; + os << " " << time << " pippo " << time << endl; +} + +void ScanMatchRecord::read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + OrientedPoint p; + double w; + is >> p.x; + is >> p.y; + is >> p.theta; + is >> w; + poses.push_back(p); + weights.push_back(w); + } +} + +void LaserRecord::read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + double r; + is >> r; + readings.push_back(r); + } + is >> pose.x; + is >> pose.y; + is >> pose.theta; + time = 0; + if (is) + is >> time; +} + +void LaserRecord::write(ostream& os){ + os << "WEIGHT " << weight << endl; + os << "ROBOTLASER1 "; + + + if ((dim == 541)||(dim == 540)) { // S300 + os <<" 4"; // laser type + os <<" -2.351831"; // start_angle + os <<" 4.712389"; // fov + os <<" 0.008727"; // angular res + os <<" 30.0" ; // maxrange + } + else if ((dim == 180)||(dim == 181)) { // PLS + os <<" 0"; // laser type + os <<" -1.570796"; // start_angle + os <<" 3.141593"; // fov + os <<" 0.017453"; // angular res + os <<" 81.9" ; // maxrange + } + else if ((dim == 360)||(dim == 361)) { // LMS + os <<" 0"; // laser type + os <<" -1.570796"; // start_angle + os <<" 3.141593"; // fov + os <<" 0.008726"; // angular res + os <<" 81.9" ; // maxrange + } + else if ((dim == 682)||(dim == 683)) { // URG + os <<" 0"; // laser type + os <<" -2.094395"; // start_angle + os <<" 4.1887902"; // fov + os << " " << 360.0/1024.0/180.0*M_PI; // angular res + os <<" 5.5" ; // maxrange + } + else { // PLS + os <<" 0"; // laser type + os <<" -1.570796"; // start_angle + os <<" 3.141593"; // fov + os <<" 0.017453"; // angular res + os <<" 81.9" ; // maxrange + } + os <<" 0.01"; // accuracy + os <<" 0" ; // remission mode + os <<" "<< dim; // num readings + os << setiosflags(ios::fixed) << setprecision(2); + for (unsigned int i=0; i< dim; i++){ + os <<" "<< readings[i] ; + } + os << setiosflags(ios::fixed) << setprecision(6); + os <<" 0"; // num remession values + os <<" "<< pose.x; + os <<" "<< pose.y; + os <<" "<< pose.theta; + os <<" "<< pose.x; + os <<" "<< pose.y; + os <<" "<< pose.theta; + os <<" 0" ; // tv + os <<" 0" ; // rv + os <<" 0.55" ; // forward_safety_dist + os <<" 0.375" ; // sideward_safety_dist + os <<" 1000000.0" ; // turn_axis + os <<" "<< time << " localhost " << time << endl; +}; + +void ResampleRecord::read(istream& is){ + is >> dim; + for (unsigned int i=0; i< dim; i++){ + unsigned int j; + is >> j; + indexes.push_back(j); + } +} + +istream& RecordList::read(istream& is){ + while(is){ + char buf[MAX_LINE_LENGHT]; + is.getline(buf, MAX_LINE_LENGHT); + istringstream lineStream(buf); + string recordType; + lineStream >> recordType; + Record* rec=0; + if (recordType=="LASER_READING"){ + rec=new LaserRecord; +// cout << "l" << flush; + } + else if (recordType=="ODO_UPDATE"){ + rec=new OdometryRecord; +// cout << "o" << flush; + } + else if (recordType=="ODOM"){ + rec=new RawOdometryRecord; +// cout << "O" << flush; + } + else if (recordType=="SM_UPDATE"){ + rec=new ScanMatchRecord; +// cout << "m" << flush; + } + else if (recordType=="SIMULATOR_POS"){ + rec=new PoseRecord(true); +// cout << "t" << flush; + } + else if (recordType=="RESAMPLE"){ + rec=new ResampleRecord; +// cout << "r" << flush; + } + else if (recordType=="NEFF"){ + rec=new NeffRecord; +// cout << "n" << flush; + } + else if (recordType=="COMMENT" || recordType=="#COMMENT"){ + rec=new CommentRecord; +// cout << "c" << flush; + } + else if (recordType=="ENTROPY"){ + rec=new EntropyRecord; +// cout << "c" << flush; + } + + if (rec){ + rec->read(lineStream); + push_back(rec); + } + } + return is; +} + +double RecordList::getLogWeight(unsigned int i) const{ + double weight=0; + unsigned int currentIndex=i; + for(RecordList::const_reverse_iterator it=rbegin(); it!=rend(); it++){ + ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + weight+=scanmatch->weights[currentIndex]; + } + ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + } + } + return weight; +} + +double RecordList::getLogWeight(unsigned int i, RecordList::const_iterator frame) const{ + double weight=0; + unsigned int currentIndex=i; + for(RecordList::const_reverse_iterator it(frame); it!=rend(); it++){ + ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + weight+=scanmatch->weights[currentIndex]; + } + ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + } + } + return weight; +} + +unsigned int RecordList::getBestIdx() const { + if (empty()) + return 0; + const ScanMatchRecord* scanmatch=0; + const_reverse_iterator it=rbegin(); + while(!scanmatch){ + scanmatch=dynamic_cast(*it); + it++; + } + unsigned int dim=scanmatch->dim; + sampleSize=(int)dim; + double bestw=-std::numeric_limits::max(); + unsigned int best=scanmatch->dim+1; + for (unsigned i=0; ibestw){ + best=i; + bestw=w; + } + } + return best; +} + +void RecordList::printLastParticles(ostream& os) const { + if (empty()) + return; + const ScanMatchRecord* scanmatch=0; + const_reverse_iterator it=rbegin(); + while(!scanmatch){ + scanmatch=dynamic_cast(*it); + it++; + } + if (! scanmatch) + return; + for (vector::const_iterator it=scanmatch->poses.begin(); it!=scanmatch->poses.end(); it++){ + os << "MARKER [color=black; circle=" << it->x*100 << "," << it->y*100 << ",10] 0 pippo 0" << endl; + } +} + +void RecordList::destroyReferences(){ + for(RecordList::iterator it=begin(); it!=end(); it++) + delete (*it); + +} + +RecordList RecordList::computePath(unsigned int i, RecordList::const_iterator frame) const{ + unsigned int currentIndex=i; + OrientedPoint p(0,0,0); + RecordList rl; + + //reconstruct a path + bool first=true; + for(RecordList::const_reverse_iterator it(frame); it!=rend(); it++){ + const ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + p=scanmatch->poses[currentIndex]; + first=false; + } + const LaserRecord* laser=dynamic_cast(*it); + if (laser && !first){ + LaserRecord* claser=new LaserRecord(*laser); + claser->pose=p; + rl.push_front(claser); + } + const ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + } + } + return rl; +} + + +void RecordList::printPath(ostream& os, unsigned int i, bool err, bool rawodom) const{ + unsigned int currentIndex=i; + OrientedPoint p(0,0,0); + RecordList rl; + double oldWeight=0; + double w=0; + //reconstruct a path + for(RecordList::const_reverse_iterator it=rbegin(); it!=rend(); it++){ + const NeffRecord* neff=dynamic_cast(*it); + if (neff){ + NeffRecord* n=new NeffRecord(*neff); + rl.push_front(n); + } + const EntropyRecord* entropy=dynamic_cast(*it); + if (entropy){ + EntropyRecord* n=new EntropyRecord(*entropy); + rl.push_front(n); + } + const ScanMatchRecord* scanmatch=dynamic_cast(*it); + if (scanmatch){ + PoseRecord* pose=new PoseRecord; + pose->dim=0; + p=pose->pose=scanmatch->poses[currentIndex]; + w=scanmatch->weights[currentIndex]-oldWeight; + oldWeight=scanmatch->weights[currentIndex]; + + if (!rawodom) { + rl.push_front(pose); + } + } + const OdometryRecord* odometry=dynamic_cast(*it); + if (odometry){ + PoseRecord* pose=new PoseRecord; + pose->dim=0; + p=pose->pose=odometry->poses[currentIndex]; + pose->time=odometry->time; + if (!rawodom) { + rl.push_front(pose); + } + } + const RawOdometryRecord* rawodometry=dynamic_cast(*it); + if (rawodometry){ + PoseRecord* pose=new PoseRecord; + pose->dim=0; + pose->pose=rawodometry->pose; + pose->time=rawodometry->time; + if (rawodom) { + rl.push_front(pose); + } + } + const PoseRecord* tpose=dynamic_cast(*it); + if (tpose){ + PoseRecord* pose=new PoseRecord(*tpose); + rl.push_front(pose); + } + const LaserRecord* laser=dynamic_cast(*it); + if (laser){ + LaserRecord* claser=new LaserRecord(*laser); + claser->pose=p; + claser->weight=w; + rl.push_front(claser); + } + const CommentRecord* comment=dynamic_cast(*it); + if (comment){ + CommentRecord* ccomment=new CommentRecord(*comment); + rl.push_front(ccomment); + } + const ResampleRecord* resample=dynamic_cast(*it); + if (resample){ + rl.push_front(new ResampleRecord(*resample)); + currentIndex=resample->indexes[currentIndex]; + } + + } + bool started=false; + bool computedTransformation=false; + bool truePosFound=false; + OrientedPoint truePose; + OrientedPoint oldPose; + OrientedPoint trueStart, realStart; + bool tpf=false; + double neff=0; + double totalError=0; + int count=0; + for(RecordList::iterator it=rl.begin(); it!=rl.end(); it++){ + NeffRecord* neffr=dynamic_cast(*it); + if (neffr) + neff=neffr->neff/(double)sampleSize; + started=started || dynamic_cast(*it)?true:false; + if (started && ! truePosFound){ + PoseRecord* tpose=dynamic_cast(*it); + if (tpose && tpose->truePos){ + truePosFound=true; + tpf=true; + truePose=tpose->pose; + os << "# "; + (*it)->write(os); + } + } + if (started && truePosFound && ! computedTransformation){ + PoseRecord* pos=dynamic_cast(*it); + if (pos && !pos->truePos){ + trueStart=truePose; + realStart=pos->pose; + os << "# "; + (*it)->write(os); + computedTransformation=true; + } + } + if (computedTransformation){ + os << setiosflags(ios::fixed) << setprecision(6); + PoseRecord* pos=dynamic_cast(*it); + if (pos){ + if (pos->truePos){ + tpf=true; + truePose=pos->pose; + } else { + if (tpf){ + tpf=false; + OrientedPoint realDelta=absoluteDifference(pos->pose,realStart); + OrientedPoint trueDelta=absoluteDifference(truePose,trueStart); + double ex=realDelta.x-trueDelta.x; + double ey=realDelta.y-trueDelta.y; + double eth=realDelta.theta-trueDelta.theta; + eth=atan2(sin(eth), cos(eth)); + if (! err) + os << "# ERROR "; + os << neff << " " + << ex << " " << ey << " " << eth + << " " << sqrt(ex*ex+ey*ey) << " " << fabs(eth) << endl; + totalError+=sqrt(ex*ex+ey*ey); + count++; + } + } + } + + } + PoseRecord* pos=dynamic_cast(*it); + if (pos) + oldPose=pos->pose; + if (! err) + (*it)->write(os); + delete *it; + } + if (err) + cout << "average error" << totalError/count << endl; +} + +}; //gfsreader + +}; //GMapping; diff --git a/src/openslam_gmapping/gridfastslam/gridslamprocessor.cpp b/src/openslam_gmapping/gridfastslam/gridslamprocessor.cpp new file mode 100644 index 0000000..51fcf52 --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/gridslamprocessor.cpp @@ -0,0 +1,518 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include "gmapping/gridfastslam/gridslamprocessor.h" + +//#define MAP_CONSISTENCY_CHECK +//#define GENERATE_TRAJECTORIES + +namespace GMapping { + +const double m_distanceThresholdCheck = 20; + +using namespace std; + + GridSlamProcessor::GridSlamProcessor(): m_infoStream(cout){ + + period_ = 5.0; + m_obsSigmaGain=1; + m_resampleThreshold=0.5; + m_minimumScore=0.; + } + + GridSlamProcessor::GridSlamProcessor(const GridSlamProcessor& gsp) + :last_update_time_(0.0), m_particles(gsp.m_particles), m_infoStream(cout){ + + period_ = 5.0; + + m_obsSigmaGain=gsp.m_obsSigmaGain; + m_resampleThreshold=gsp.m_resampleThreshold; + m_minimumScore=gsp.m_minimumScore; + + m_beams=gsp.m_beams; + m_indexes=gsp.m_indexes; + m_motionModel=gsp.m_motionModel; + m_resampleThreshold=gsp.m_resampleThreshold; + m_matcher=gsp.m_matcher; + + m_count=gsp.m_count; + m_readingCount=gsp.m_readingCount; + m_lastPartPose=gsp.m_lastPartPose; + m_pose=gsp.m_pose; + m_odoPose=gsp.m_odoPose; + m_linearDistance=gsp.m_linearDistance; + m_angularDistance=gsp.m_angularDistance; + m_neff=gsp.m_neff; + + cerr << "FILTER COPY CONSTRUCTOR" << endl; + cerr << "m_odoPose=" << m_odoPose.x << " " < >::reference* const, int> PointerMap; + PointerMap pmap; + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + const ScanMatcherMap& m1(it->map); + const HierarchicalArray2D& h1(m1.storage()); + for (int x=0; x >& a1(h1.m_cells[x][y]); + if (a1.m_reference){ + PointerMap::iterator f=pmap.find(a1.m_reference); + if (f==pmap.end()) + pmap.insert(make_pair(a1.m_reference, 1)); + else + f->second++; + } + } + } + } + cerr << __func__ << ": Number of allocated chunks" << pmap.size() << endl; + for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++) + assert(it->first->shares==(unsigned int)it->second); + + cerr << __func__ << ": SUCCESS, the error is somewhere else" << endl; +# endif + GridSlamProcessor* cloned=new GridSlamProcessor(*this); + +# ifdef MAP_CONSISTENCY_CHECK + cerr << __func__ << ": trajectories end" << endl; + cerr << __func__ << ": performing afterclone_fit_test" << endl; + ParticleVector::const_iterator jt=cloned->m_particles.begin(); + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + const ScanMatcherMap& m1(it->map); + const ScanMatcherMap& m2(jt->map); + const HierarchicalArray2D& h1(m1.storage()); + const HierarchicalArray2D& h2(m2.storage()); + jt++; + for (int x=0; x >& a1(h1.m_cells[x][y]); + const autoptr< Array2D >& a2(h2.m_cells[x][y]); + assert(a1.m_reference==a2.m_reference); + assert((!a1.m_reference) || !(a1.m_reference->shares%2)); + } + } + } + cerr << __func__ << ": SUCCESS, the error is somewhere else" << endl; +# endif + return cloned; +} + + GridSlamProcessor::~GridSlamProcessor(){ + cerr << __func__ << ": Start" << endl; + cerr << __func__ << ": Deleting tree" << endl; + for (std::vector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ +#ifdef TREE_CONSISTENCY_CHECK + TNode* node=it->node; + while(node) + node=node->parent; + cerr << "@" << endl; +#endif + if (it->node) + delete it->node; + //cout << "l=" << it->weight<< endl; + } + +# ifdef MAP_CONSISTENCY_CHECK + cerr << __func__ << ": performing predestruction_fit_test" << endl; + typedef std::map >::reference* const, int> PointerMap; + PointerMap pmap; + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + const ScanMatcherMap& m1(it->map); + const HierarchicalArray2D& h1(m1.storage()); + for (int x=0; x >& a1(h1.m_cells[x][y]); + if (a1.m_reference){ + PointerMap::iterator f=pmap.find(a1.m_reference); + if (f==pmap.end()) + pmap.insert(make_pair(a1.m_reference, 1)); + else + f->second++; + } + } + } + } + cerr << __func__ << ": Number of allocated chunks" << pmap.size() << endl; + for(PointerMap::const_iterator it=pmap.begin(); it!=pmap.end(); it++) + assert(it->first->shares>=(unsigned int)it->second); + cerr << __func__ << ": SUCCESS, the error is somewhere else" << endl; +# endif + } + + + + void GridSlamProcessor::setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, + int iterations, double likelihoodSigma, double likelihoodGain, unsigned int likelihoodSkip){ + m_obsSigmaGain=likelihoodGain; + m_matcher.setMatchingParameters(urange, range, sigma, kernsize, lopt, aopt, iterations, likelihoodSigma, likelihoodSkip); + if (m_infoStream) + m_infoStream << " -maxUrange "<< urange + << " -maxUrange "<< range + << " -sigma "<< sigma + << " -kernelSize "<< kernsize + << " -lstep " << lopt + << " -lobsGain " << m_obsSigmaGain + << " -astep " << aopt << endl; + + + } + +void GridSlamProcessor::setMotionModelParameters +(double srr, double srt, double str, double stt){ + m_motionModel.srr=srr; + m_motionModel.srt=srt; + m_motionModel.str=str; + m_motionModel.stt=stt; + + if (m_infoStream) + m_infoStream << " -srr "<< srr << " -srt "<< srt + << " -str "<< str << " -stt "<< stt << endl; + +} + + void GridSlamProcessor::setUpdateDistances(double linear, double angular, double resampleThreshold){ + m_linearThresholdDistance=linear; + m_angularThresholdDistance=angular; + m_resampleThreshold=resampleThreshold; + if (m_infoStream) + m_infoStream << " -linearUpdate " << linear + << " -angularUpdate "<< angular + << " -resampleThreshold " << m_resampleThreshold << endl; + } + + //HERE STARTS THE BEEF + + GridSlamProcessor::Particle::Particle(const ScanMatcherMap& m): + map(m), pose(0,0,0), weight(0), weightSum(0), gweight(0), previousIndex(0){ + node=0; + } + + + void GridSlamProcessor::setSensorMap(const SensorMap& smap){ + + /* + Construct the angle table for the sensor + + FIXME For now detect the readings of only the front laser, and assume its pose is in the center of the robot + */ + + SensorMap::const_iterator laser_it=smap.find(std::string("FLASER")); + if (laser_it==smap.end()){ + cerr << "Attempting to load the new carmen log format" << endl; + laser_it=smap.find(std::string("ROBOTLASER1")); + assert(laser_it!=smap.end()); + } + const RangeSensor* rangeSensor=dynamic_cast((laser_it->second)); + assert(rangeSensor && rangeSensor->beams().size()); + + m_beams=static_cast(rangeSensor->beams().size()); + double* angles=new double[rangeSensor->beams().size()]; + for (unsigned int i=0; ibeams()[i].pose.theta; + } + m_matcher.setLaserParameters(m_beams, angles, rangeSensor->getPose()); + delete [] angles; + } + + void GridSlamProcessor::init(unsigned int size, double xmin, double ymin, double xmax, double ymax, double delta, OrientedPoint initialPose){ + m_xmin=xmin; + m_ymin=ymin; + m_xmax=xmax; + m_ymax=ymax; + m_delta=delta; + if (m_infoStream) + m_infoStream + << " -xmin "<< m_xmin + << " -xmax "<< m_xmax + << " -ymin "<< m_ymin + << " -ymax "<< m_ymax + << " -delta "<< m_delta + << " -particles "<< size << endl; + + + m_particles.clear(); + TNode* node=new TNode(initialPose, 0, 0, 0); + ScanMatcherMap lmap(Point(xmin+xmax, ymin+ymax)*.5, xmax-xmin, ymax-ymin, delta); + for (unsigned int i=0; i(o.getSensor()); + if (os && os->isIdeal() && m_outputStream){ + m_outputStream << setiosflags(ios::fixed) << setprecision(3); + m_outputStream << "SIMULATOR_POS " << o.getPose().x << " " << o.getPose().y << " " ; + m_outputStream << setiosflags(ios::fixed) << setprecision(6) << o.getPose().theta << " " << o.getTime() << endl; + } + } + + + bool GridSlamProcessor::processScan(const RangeReading & reading, int adaptParticles){ + + /**retireve the position from the reading, and compute the odometry*/ + OrientedPoint relPose=reading.getPose(); + if (!m_count){ + m_lastPartPose=m_odoPose=relPose; + } + + //write the state of the reading and update all the particles using the motion model + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + OrientedPoint& pose(it->pose); + pose=m_motionModel.drawFromMotion(it->pose, relPose, m_odoPose); + } + + // update the output file + if (m_outputStream.is_open()){ + m_outputStream << setiosflags(ios::fixed) << setprecision(6); + m_outputStream << "ODOM "; + m_outputStream << setiosflags(ios::fixed) << setprecision(3) << m_odoPose.x << " " << m_odoPose.y << " "; + m_outputStream << setiosflags(ios::fixed) << setprecision(6) << m_odoPose.theta << " "; + m_outputStream << reading.getTime(); + m_outputStream << endl; + } + if (m_outputStream.is_open()){ + m_outputStream << setiosflags(ios::fixed) << setprecision(6); + m_outputStream << "ODO_UPDATE "<< m_particles.size() << " "; + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + OrientedPoint& pose(it->pose); + m_outputStream << setiosflags(ios::fixed) << setprecision(3) << pose.x << " " << pose.y << " "; + m_outputStream << setiosflags(ios::fixed) << setprecision(6) << pose.theta << " " << it-> weight << " "; + } + m_outputStream << reading.getTime(); + m_outputStream << endl; + } + + //invoke the callback + onOdometryUpdate(); + + + // accumulate the robot translation and rotation + OrientedPoint move=relPose-m_odoPose; + move.theta=atan2(sin(move.theta), cos(move.theta)); + m_linearDistance+=sqrt(move*move); + m_angularDistance+=fabs(move.theta); + + // if the robot jumps throw a warning + if (m_linearDistance>m_distanceThresholdCheck){ + cerr << "***********************************************************************" << endl; + cerr << "********** Error: m_distanceThresholdCheck overridden!!!! *************" << endl; + cerr << "m_distanceThresholdCheck=" << m_distanceThresholdCheck << endl; + cerr << "Old Odometry Pose= " << m_odoPose.x << " " << m_odoPose.y + << " " <=m_linearThresholdDistance + || m_angularDistance>=m_angularThresholdDistance + || (period_ >= 0.0 && (reading.getTime() - last_update_time_) > period_)){ + last_update_time_ = reading.getTime(); + + if (m_outputStream.is_open()){ + m_outputStream << setiosflags(ios::fixed) << setprecision(6); + m_outputStream << "FRAME " << m_readingCount; + m_outputStream << " " << m_linearDistance; + m_outputStream << " " << m_angularDistance << endl; + } + + if (m_infoStream) + m_infoStream << "update frame " << m_readingCount << endl + << "update ld=" << m_linearDistance << " ad=" << m_angularDistance << endl; + + + cerr << "Laser Pose= " << reading.getPose().x << " " << reading.getPose().y + << " " << reading.getPose().theta << endl; + + + //this is for converting the reading in a scan-matcher feedable form + assert(reading.size()==m_beams); + double * plainReading = new double[m_beams]; + for(unsigned int i=0; i(reading.getSensor()), + reading.getTime()); + + if (m_count>0){ + scanMatch(plainReading); + if (m_outputStream.is_open()){ + m_outputStream << "LASER_READING "<< reading.size() << " "; + m_outputStream << setiosflags(ios::fixed) << setprecision(2); + for (RangeReading::const_iterator b=reading.begin(); b!=reading.end(); b++){ + m_outputStream << *b << " "; + } + OrientedPoint p=reading.getPose(); + m_outputStream << setiosflags(ios::fixed) << setprecision(6); + m_outputStream << p.x << " " << p.y << " " << p.theta << " " << reading.getTime()<< endl; + m_outputStream << "SM_UPDATE "<< m_particles.size() << " "; + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + const OrientedPoint& pose=it->pose; + m_outputStream << setiosflags(ios::fixed) << setprecision(3) << pose.x << " " << pose.y << " "; + m_outputStream << setiosflags(ios::fixed) << setprecision(6) << pose.theta << " " << it-> weight << " "; + } + m_outputStream << endl; + } + onScanmatchUpdate(); + + updateTreeWeights(false); + + if (m_infoStream){ + m_infoStream << "neff= " << m_neff << endl; + } + if (m_outputStream.is_open()){ + m_outputStream << setiosflags(ios::fixed) << setprecision(6); + m_outputStream << "NEFF " << m_neff << endl; + } + resample(plainReading, adaptParticles, reading_copy); + + } else { + m_infoStream << "Registering First Scan"<< endl; + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + m_matcher.invalidateActiveArea(); + m_matcher.computeActiveArea(it->map, it->pose, plainReading); + m_matcher.registerScan(it->map, it->pose, plainReading); + + // cyr: not needed anymore, particles refer to the root in the beginning! + TNode* node=new TNode(it->pose, 0., it->node, 0); + //node->reading=0; + node->reading = reading_copy; + it->node=node; + + } + } + // cerr << "Tree: normalizing, resetting and propagating weights at the end..." ; + updateTreeWeights(false); + // cerr << ".done!" <previousPose=it->pose; + } + + } + if (m_outputStream.is_open()) + m_outputStream << flush; + m_readingCount++; + return processed; + } + + + std::ofstream& GridSlamProcessor::outputStream(){ + return m_outputStream; + } + + std::ostream& GridSlamProcessor::infoStream(){ + return m_infoStream; + } + + + int GridSlamProcessor::getBestParticleIndex() const{ + unsigned int bi=0; + double bw=-std::numeric_limits::max(); + for (unsigned int i=0; i +#include +#include +#include +#include +#include +//#include + +#include +#include "gmapping/gridfastslam/gridslamprocessor.h" + +namespace GMapping { + +using namespace std; + +GridSlamProcessor::TNode::TNode(const OrientedPoint& p, double w, TNode* n, unsigned int c){ + pose=p; + weight=w; + childs=c; + parent=n; + reading=0; + gweight=0; + if (n){ + n->childs++; + } + flag=0; + accWeight=0; +} + + +GridSlamProcessor::TNode::~TNode(){ + if (parent && (--parent->childs)<=0) + delete parent; + assert(!childs); +} + + +//BEGIN State Save/Restore + +GridSlamProcessor::TNodeVector GridSlamProcessor::getTrajectories() const{ + TNodeVector v; + TNodeMultimap parentCache; + TNodeDeque border; + + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + TNode* node=it->node; + while(node){ + node->flag=false; + node=node->parent; + } + } + + for (ParticleVector::const_iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + TNode* newnode=new TNode(* (it->node) ); + + v.push_back(newnode); + assert(newnode->childs==0); + if (newnode->parent){ + parentCache.insert(make_pair(newnode->parent, newnode)); + //cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl; + if (! newnode->parent->flag){ + //cerr << __func__ << ": node " << newnode->parent << " flag=" << newnode->parent->flag<< endl; + newnode->parent->flag=true; + border.push_back(newnode->parent); + } + } + } + + //cerr << __func__ << ": border.size(INITIAL)=" << border.size() << endl; + //cerr << __func__ << ": parentCache.size()=" << parentCache.size() << endl; + while (! border.empty()){ + //cerr << __func__ << ": border.size(PREPROCESS)=" << border.size() << endl; + //cerr << __func__ << ": parentCache.size(PREPROCESS)=" << parentCache.size() << endl; + const TNode* node=border.front(); + //cerr << __func__ << ": node " << node << endl; + border.pop_front(); + if (! node) + continue; + + TNode* newnode=new TNode(*node); + node->flag=false; + + //update the parent of all of the referring childs + pair p=parentCache.equal_range(node); + double childs=0; + for (TNodeMultimap::iterator it=p.first; it!=p.second; it++){ + assert(it->second->parent==it->first); + (it->second)->parent=newnode; + //cerr << "PS(" << it->first << ", "<< it->second << ")"; + childs++; + } + ////cerr << endl; + parentCache.erase(p.first, p.second); + //cerr << __func__ << ": parentCache.size(POSTERASE)=" << parentCache.size() << endl; + assert(childs==newnode->childs); + + //unmark the node + if ( node->parent ){ + parentCache.insert(make_pair(node->parent, newnode)); + if(! node->parent->flag){ + border.push_back(node->parent); + node->parent->flag=true; + } + } + //insert the parent in the cache + } + //cerr << __func__ << " : checking cloned trajectories" << endl; + for (unsigned int i=0; iparent; + } + //cerr << endl; + } + + return v; + +} + +void GridSlamProcessor::integrateScanSequence(GridSlamProcessor::TNode* node){ + //reverse the list + TNode* aux=node; + TNode* reversed=0; + double count=0; + while(aux!=0){ + TNode * newnode=new TNode(*aux); + newnode->parent=reversed; + reversed=newnode; + aux=aux->parent; + count++; + } + + //attach the path to each particle and compute the map; + if (m_infoStream ) + m_infoStream << "Restoring State Nodes=" <pose; + first=false; + oldWeight=aux->weight; + } + + OrientedPoint dp=aux->pose-oldPose; + double dw=aux->weight-oldWeight; + oldPose=aux->pose; + + + double * plainReading = new double[m_beams]; + for(unsigned int i=0; ireading))[i]; + + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + //compute the position relative to the path; + double s=sin(oldPose.theta-it->pose.theta), + c=cos(oldPose.theta-it->pose.theta); + + it->pose.x+=c*dp.x-s*dp.y; + it->pose.y+=s*dp.x+c*dp.y; + it->pose.theta+=dp.theta; + it->pose.theta=atan2(sin(it->pose.theta), cos(it->pose.theta)); + + //register the scan + m_matcher.invalidateActiveArea(); + m_matcher.computeActiveArea(it->map, it->pose, plainReading); + it->weight+=dw; + it->weightSum+=dw; + + // this should not work, since it->weight is not the correct weight! + // it->node=new TNode(it->pose, it->weight, it->node); + it->node=new TNode(it->pose, 0.0, it->node); + //update the weight + } + + delete [] plainReading; + aux=aux->parent; + } + + //destroy the path + aux=reversed; + while (reversed){ + aux=reversed; + reversed=reversed->parent; + delete aux; + } +} + +//END State Save/Restore + +//BEGIN + +void GridSlamProcessor::updateTreeWeights(bool weightsAlreadyNormalized){ + + if (!weightsAlreadyNormalized) { + normalize(); + } + resetTree(); + propagateWeights(); +} + +void GridSlamProcessor::resetTree(){ + // don't calls this function directly, use updateTreeWeights(..) ! + + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + TNode* n=it->node; + while (n){ + n->accWeight=0; + n->visitCounter=0; + n=n->parent; + } + } +} + +double propagateWeight(GridSlamProcessor::TNode* n, double weight){ + if (!n) + return weight; + double w=0; + n->visitCounter++; + n->accWeight+=weight; + if (n->visitCounter==n->childs){ + w=propagateWeight(n->parent,n->accWeight); + } + assert(n->visitCounter<=n->childs); + return w; +} + +double GridSlamProcessor::propagateWeights(){ + // don't calls this function directly, use updateTreeWeights(..) ! + + // all nodes must be resetted to zero and weights normalized + + // the accumulated weight of the root + double lastNodeWeight=0; + // sum of the weights in the leafs + double aw=0; + + std::vector::iterator w=m_weights.begin(); + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + double weight=*w; + aw+=weight; + TNode * n=it->node; + n->accWeight=weight; + lastNodeWeight+=propagateWeight(n->parent,n->accWeight); + w++; + } + + if (fabs(aw-1.0) > 0.0001 || fabs(lastNodeWeight-1.0) > 0.0001) { + cerr << "ERROR: "; + cerr << "root->accWeight=" << lastNodeWeight << " sum_leaf_weights=" << aw << endl; + assert(0); + } + return lastNodeWeight; +} + +}; + +//END diff --git a/src/openslam_gmapping/gridfastslam/motionmodel.cpp b/src/openslam_gmapping/gridfastslam/motionmodel.cpp new file mode 100644 index 0000000..7f0d1fc --- /dev/null +++ b/src/openslam_gmapping/gridfastslam/motionmodel.cpp @@ -0,0 +1,80 @@ +#include "gmapping/gridfastslam/motionmodel.h" +#include +#include + +#define MotionModelConditioningLinearCovariance 0.01 +#define MotionModelConditioningAngularCovariance 0.001 + +namespace GMapping { + + + +OrientedPoint +MotionModel::drawFromMotion (const OrientedPoint& p, double linearMove, double angularMove) const{ + OrientedPoint n(p); + double lm=linearMove + fabs( linearMove ) * sampleGaussian( srr ) + fabs( angularMove ) * sampleGaussian( str ); + double am=angularMove + fabs( linearMove ) * sampleGaussian( srt ) + fabs( angularMove ) * sampleGaussian( stt ); + n.x+=lm*cos(n.theta+.5*am); + n.y+=lm*sin(n.theta+.5*am); + n.theta+=am; + n.theta=atan2(sin(n.theta), cos(n.theta)); + return n; +} + +OrientedPoint +MotionModel::drawFromMotion(const OrientedPoint& p, const OrientedPoint& pnew, const OrientedPoint& pold) const{ + double sxy=0.3*srr; + OrientedPoint delta=absoluteDifference(pnew, pold); + OrientedPoint noisypoint(delta); + noisypoint.x+=sampleGaussian(srr*fabs(delta.x)+str*fabs(delta.theta)+sxy*fabs(delta.y)); + noisypoint.y+=sampleGaussian(srr*fabs(delta.y)+str*fabs(delta.theta)+sxy*fabs(delta.x)); + noisypoint.theta+=sampleGaussian(stt*fabs(delta.theta)+srt*sqrt(delta.x*delta.x+delta.y*delta.y)); + noisypoint.theta=fmod(noisypoint.theta, 2*M_PI); + if (noisypoint.theta>M_PI) + noisypoint.theta-=2*M_PI; + return absoluteSum(p,noisypoint); +} + + +/* +OrientedPoint +MotionModel::drawFromMotion(const OrientedPoint& p, const OrientedPoint& pnew, const OrientedPoint& pold) const{ + + //compute the three stps needed for perfectly matching the two poses if the noise is absent + + OrientedPoint delta=pnew-pold; + double aoffset=atan2(delta.y, delta.x); + double alpha1=aoffset-pold.theta; + alpha1=atan2(sin(alpha1), cos(alpha1)); + double rho=sqrt(delta*delta); + double alpha2=pnew.theta-aoffset; + alpha2=atan2(sin(alpha2), cos(alpha2)); + + OrientedPoint pret=drawFromMotion(p, 0, alpha1); + pret=drawFromMotion(pret, rho, 0); + pret=drawFromMotion(pret, 0, alpha2); + return pret; +} +*/ + + +Covariance3 MotionModel::gaussianApproximation(const OrientedPoint& pnew, const OrientedPoint& pold) const{ + OrientedPoint delta=absoluteDifference(pnew,pold); + double linearMove=sqrt(delta.x*delta.x+delta.y*delta.y); + double angularMove=fabs(delta.x); + double s11=srr*srr*linearMove*linearMove; + double s22=stt*stt*angularMove*angularMove; + double s12=str*angularMove*srt*linearMove; + Covariance3 cov; + double s=sin(pold.theta),c=cos(pold.theta); + cov.xx=c*c*s11+MotionModelConditioningLinearCovariance; + cov.yy=s*s*s11+MotionModelConditioningLinearCovariance; + cov.tt=s22+MotionModelConditioningAngularCovariance; + cov.xy=s*c*s11; + cov.xt=c*s12; + cov.yt=s*s12; + return cov; +} + +}; + diff --git a/src/openslam_gmapping/gui/Makefile b/src/openslam_gmapping/gui/Makefile new file mode 100644 index 0000000..998f74a --- /dev/null +++ b/src/openslam_gmapping/gui/Makefile @@ -0,0 +1,18 @@ +-include ../global.mk + +OBJS= gsp_thread.o qparticleviewer.o qgraphpainter.o qmappainter.o + +APPS= gfs_nogui gfs_simplegui gfs2img +LDFLAGS+= $(QT_LIB) $(KDE_LIB) -lgridfastslam -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lconfigfile -lutils -lpthread + +ifeq ($(CARMENSUPPORT),1) +LDFLAGS+= -lcarmenwrapper +endif + +CPPFLAGS+= -I../sensor $(QT_INCLUDE) $(KDE_INCLUDE) -I$(CARMEN_HOME)/include + + +-include ../build_tools/Makefile.generic-shared-object + + + diff --git a/src/openslam_gmapping/gui/gfs2img.cpp b/src/openslam_gmapping/gui/gfs2img.cpp new file mode 100644 index 0000000..826dc28 --- /dev/null +++ b/src/openslam_gmapping/gui/gfs2img.cpp @@ -0,0 +1,258 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define MAX_LASER_BEAMS 1024 +#define MAX_FILENAME 1024 + +using namespace std; +using namespace GMapping; +using namespace GMapping::GFSReader; + +inline double min(double a, double b){ + return (ab)?a:b; +} + +void computeBoundingBox(double& xmin, double& ymin, double& xmax, double& ymax, const LaserRecord& laser, const OrientedPoint& pose, double maxrange){ + double theta=-M_PI/2+pose.theta; + double theta_step=(laser.readings.size()==180||laser.readings.size()==181)?M_PI/180:M_PI/360; + for (std::vector::const_iterator it=laser.readings.begin(); it!=laser.readings.end(); it++){ + if (*it(*it); + if (lr){ + lastLaser=lr; + continue; + } + const ScanMatchRecord* smr= dynamic_cast(*it); + if (smr && lastLaser){ + for (std::vector::const_iterator pit=smr->poses.begin(); pit!=smr->poses.end(); pit++){ + computeBoundingBox(xmin, ymin, xmax, ymax, *lastLaser, *pit, maxrange); + } + } + } +} +int main(int argc, char** argv){ + QApplication app(argc, argv); + double maxrange=50; + double delta=0.1; + int scanSkip=5; + const char* filename=0; + const char* format="PNG"; + CMD_PARSE_BEGIN(1, argc) + parseDouble("-maxrange", maxrange); + parseDouble("-delta", delta); + parseInt("-skip", scanSkip); + parseString("-filename",filename); + parseString("-format",format); + CMD_PARSE_END + + double maxUrange=maxrange; + if (! filename){ + cout << " supply a gfs file, please" << endl; + cout << " usage gfs2img [options] -filename " << endl; + cout << " [options]:" << endl; + cout << " -maxrange " << endl; + cout << " -delta " << endl; + cout << " -skip " << endl; + cout << " -format " << endl; + return -1; + } + ifstream is(filename); + if (!is){ + cout << " supply an EXISTING gfs file, please" << endl; + return -1; + } + RecordList rl; + rl.read(is); + + int particles=0; + int beams=0; + for (RecordList::const_iterator it=rl.begin(); it!=rl.end(); it++){ + const OdometryRecord* odometry=dynamic_cast(*it); + if (odometry){ + particles=odometry->dim; + } + const LaserRecord* s=dynamic_cast(*it); + if (s){ + beams=s->readings.size(); + } + if (particles && beams) + break; + } + cout << "Particles from gfs=" << particles << endl; + if (! particles){ + cout << "no particles found, terminating" << endl; + return -1; + } + cout << "Laser beams from gfs=" << beams << endl; + if (! beams){ + cout << "0 beams found, terminating" << endl; + return -1; + } + + + double laserBeamStep=0; + if (beams==180||beams==181){ + laserBeamStep=M_PI/180; + } else if (beams==360||beams==361){ + laserBeamStep=M_PI/360; + } + cout << "Laser beam step" << laserBeamStep << endl; + if (laserBeamStep==0){ + cout << "Invalid Beam Step, terminating" << endl; + return -1; + } + double laserAngles[MAX_LASER_BEAMS]; + double theta=-M_PI/2; + for (int i=0; i(*it); + if (!s) + continue; + scanCount++; + if (scanCount%scanSkip) + continue; + cout << "Frame " << frame << " "; + std::vector paths(particles); + int bestIdx=0; + double bestWeight=-MAXDOUBLE; + for (int p=0; pbestWeight){ + bestWeight=w; + bestIdx=p; + } + } + cout << "bestIdx=" << bestIdx << " bestWeight=" << bestWeight << endl; + + cout << "computing best map" << endl; + ScanMatcherMap smap(center, xmin, ymin, xmax, ymax, delta); + int count=0; + for (RecordList::const_iterator mt=paths[bestIdx].begin(); mt!=paths[bestIdx].end(); mt++){ + const LaserRecord* s=dynamic_cast(*mt); + if (s){ + double rawreadings[MAX_LASER_BEAMS]; + for (uint i=0; ireadings.size(); i++) + rawreadings[i]=s->readings[i]; + matcher.invalidateActiveArea(); + matcher.computeActiveArea(smap, s->pose, rawreadings); +// matcher.allocActiveArea(smap, s->pose, rawreadings); + matcher.registerScan(smap, s->pose, rawreadings); + count++; + } + } + cout << "DONE " << count <=0){ + int grayValue=255-(int)(255.*v); + painter.setPen(QColor(grayValue, grayValue, grayValue)); + painter.drawPoint(x,smap.getMapSizeY()-y-1); + } + } + + /* + cout << "painting trajectories" << endl; + for (int p=0; p(*mt); + if (s){ + IntPoint ip=smap.world2map(s->pose); + ip.y=smap.getMapSizeY()-ip.y-1; + if (!first){ + painter.drawLine( oldPoint.x, oldPoint.y, ip.x, ip.y); + } + oldPoint=ip; + first=false; + } + } + paths[p].destroyReferences();; + } + painter.setPen(QColor(Qt::black)); + bool first=true; + IntPoint oldPoint(0,0); + for (RecordList::const_iterator mt=paths[bestIdx].begin(); mt!=paths[bestIdx].end(); mt++){ + const LaserRecord* s=dynamic_cast(*mt); + if (s){ + IntPoint ip=smap.world2map(s->pose); + ip.y=smap.getMapSizeY()-ip.y-1; + if (!first){ + painter.drawLine( oldPoint.x, oldPoint.y, ip.x, ip.y); + } + oldPoint=ip; + first=false; + } + } + paths[bestIdx].destroyReferences();; + */ + cout << " DONE" << endl; + cout << "writing image" << endl; + QImage img=pixmap.convertToImage(); + char ofilename[MAX_FILENAME]; + sprintf(ofilename,"%s-%.4d.%s",filename, frame, format); + cout << ofilename << endl; + img.save(QString(ofilename), format,0); + frame++; + + } + cout << "For Cyrill: \"The Evil is Outside\"" << endl; +} + diff --git a/src/openslam_gmapping/gui/gfs_logplayer.cpp b/src/openslam_gmapping/gui/gfs_logplayer.cpp new file mode 100644 index 0000000..c612a52 --- /dev/null +++ b/src/openslam_gmapping/gui/gfs_logplayer.cpp @@ -0,0 +1,40 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include +#include "gmapping/gui/qparticleviewer.h" + +int main (int argc, char ** argv){ + QApplication app(argc, argv); + QParticleViewer * pviewer=new QParticleViewer(0); + app.setMainWidget(pviewer); + pviewer->show(); + FILE* f=fopen(argv[1], "r"); + if (!f) + return -1; + QTextIStream is(f); + pviewer->tis=&is; + pviewer->start(10); + return app.exec(); + std::cout << "DONE: " << argv[1] < +#endif +#include "gmapping/gui/gsp_thread.h" + +using namespace GMapping; + +int main (int argc, char ** argv){ + cerr << "GMAPPING copyright 2004 by Giorgio Grisetti, Cyrill Stachniss," << endl ; + cerr << "and Wolfram Burgard. Published under the 3-Clause BSD License," << endl ; + cerr << "see: https://opensource.org/licenses/BSD-3-Clause" << endl << endl; + + + GridSlamProcessorThread* gsp= new GridSlamProcessorThread; + if (gsp->init(argc, argv)){ + cout << "GSP INIT ERROR" << endl; + return -1; + } + cout <<"GSP INITIALIZED"<< endl; + if (gsp->loadFiles()){ + cout <<"GSP READFILE ERROR"<< endl; + return -2; + } + cout <<"FILES LOADED"<< endl; + gsp->setMapUpdateTime(1000000); + gsp->start(); + cout <<"THREAD STARTED"<< endl; + bool done=false; + while (!done){ + GridSlamProcessorThread::EventDeque events=gsp->getEvents(); + for (GridSlamProcessorThread::EventDeque::iterator it=events.begin(); it!=events.end(); it++){ + cout << flush; + GridSlamProcessorThread::DoneEvent* doneEvent=dynamic_cast(*it); + if (doneEvent){ + done=true; + cout <<"DONE!"<< endl; + gsp->stop(); + } + if (*it) + delete(*it); + } + } +} diff --git a/src/openslam_gmapping/gui/gfs_simplegui.cpp b/src/openslam_gmapping/gui/gfs_simplegui.cpp new file mode 100644 index 0000000..63486a4 --- /dev/null +++ b/src/openslam_gmapping/gui/gfs_simplegui.cpp @@ -0,0 +1,96 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include "gmapping/gui/qparticleviewer.h" +#include "gmapping/gui/qgraphpainter.h" +#include +#include +#include +#include +#include +#include + +class GFSMainWindow: public QMainWindow{ +public: + GFSMainWindow(GridSlamProcessorThread* t){ + gsp_thread=t; + QVBoxLayout* layout=new QVBoxLayout(this); + pviewer=new QParticleViewer(this,0,0,gsp_thread); + pviewer->setGeometry(0,0,500,500); + pviewer->setFocusPolicy(QParticleViewer::ClickFocus); + layout->addWidget(pviewer); + + gpainter=new QGraphPainter(this); + gpainter->setFixedHeight(100); + layout->addWidget(gpainter); + gpainter->setRange(0,1); + gpainter->setTitle("Neff"); + + help = new QLabel(QString("+/- - zoom | b - show/hide best path | p - show/hide all paths | c - center robot "),this); + help->setMaximumHeight(30); + layout->addWidget(help); + + QObject::connect( pviewer, SIGNAL(neffChanged(double) ), gpainter, SLOT(valueAdded(double)) ); + setTabOrder(pviewer, pviewer); + } + + void start(int c){ + pviewer->start(c); + gpainter->start(c); + } + +protected: + GridSlamProcessorThread* gsp_thread; + QVBoxLayout* layout; + QParticleViewer* pviewer; + QGraphPainter* gpainter; + QLabel* help; +}; + + +int main (int argc, char ** argv){ + cerr << "GMAPPING copyright 2004 by Giorgio Grisetti, Cyrill Stachniss," << endl ; + cerr << "and Wolfram Burgard. Published under the 3-Clause BSD License," << endl; + cerr << "see: https://opensource.org/licenses/BSD-3-Clause" << endl << endl; + + + GridSlamProcessorThread* gsp= new GridSlamProcessorThread; + if (gsp->init(argc, argv)){ + cerr << "GridFastSlam: Initialization Error!" << endl; + cerr << "(Did you specified an input file for reading?)" << endl; + return -1; + } + if (gsp->loadFiles()){ + cerr <<"Error reading file!"<< endl; + return -2; + } + cerr <<"File successfully loaded!"<< endl; + QApplication app(argc, argv); + GFSMainWindow* mainWin=new GFSMainWindow(gsp); + app.setMainWidget(mainWin); + mainWin->show(); + gsp->setEventBufferSize(10000); + gsp->start(); + mainWin->start(1000); + return app.exec(); +} + diff --git a/src/openslam_gmapping/gui/gsp_thread.cpp b/src/openslam_gmapping/gui/gsp_thread.cpp new file mode 100644 index 0000000..1300334 --- /dev/null +++ b/src/openslam_gmapping/gui/gsp_thread.cpp @@ -0,0 +1,642 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include "gmapping/gui/gsp_thread.h" +#include +#include +#include + +#ifdef CARMEN_SUPPORT + #include +#endif + +#define DEBUG cout << __func__ + +using namespace std; + +int GridSlamProcessorThread::init(int argc, const char * const * argv){ + m_argc=argc; + m_argv=argv; + std::string configfilename; + std::string ebuf="not_set"; + + CMD_PARSE_BEGIN_SILENT(1,argc); + parseStringSilent("-cfg",configfilename); + CMD_PARSE_END_SILENT; + + if (configfilename.length()>0){ + ConfigFile cfg(configfilename); + + filename = (std::string) cfg.value("gfs","filename",filename); + outfilename = (std::string) cfg.value("gfs","outfilename",outfilename); + xmin = cfg.value("gfs","xmin", xmin); + xmax = cfg.value("gfs","xmax",xmax); + ymin = cfg.value("gfs","ymin",ymin); + ymax = cfg.value("gfs","ymax",ymax); + delta = cfg.value("gfs","delta",delta); + maxrange = cfg.value("gfs","maxrange",maxrange); + maxUrange = cfg.value("gfs","maxUrange",maxUrange); + regscore = cfg.value("gfs","regscore",regscore); + critscore = cfg.value("gfs","critscore",critscore); + kernelSize = cfg.value("gfs","kernelSize",kernelSize); + sigma = cfg.value("gfs","sigma",sigma); + iterations = cfg.value("gfs","iterations",iterations); + lstep = cfg.value("gfs","lstep",lstep); + astep = cfg.value("gfs","astep",astep); + maxMove = cfg.value("gfs","maxMove",maxMove); + srr = cfg.value("gfs","srr", srr); + srt = cfg.value("gfs","srt", srt); + str = cfg.value("gfs","str", str); + stt = cfg.value("gfs","stt", stt); + particles = cfg.value("gfs","particles",particles); + angularUpdate = cfg.value("gfs","angularUpdate", angularUpdate); + linearUpdate = cfg.value("gfs","linearUpdate", linearUpdate); + lsigma = cfg.value("gfs","lsigma", lsigma); + ogain = cfg.value("gfs","lobsGain", ogain); + lskip = (int)cfg.value("gfs","lskip", lskip); + mapUpdateTime = cfg.value("gfs","mapUpdate", mapUpdateTime); + randseed = cfg.value("gfs","randseed", randseed); + autosize = cfg.value("gfs","autosize", autosize); + readFromStdin = cfg.value("gfs","stdin", readFromStdin); + resampleThreshold = cfg.value("gfs","resampleThreshold", resampleThreshold); + skipMatching = cfg.value("gfs","skipMatching", skipMatching); + onLine = cfg.value("gfs","onLine", onLine); + generateMap = cfg.value("gfs","generateMap", generateMap); + m_minimumScore = cfg.value("gfs","minimumScore", m_minimumScore); + llsamplerange = cfg.value("gfs","llsamplerange", llsamplerange); + lasamplerange = cfg.value("gfs","lasamplerange",lasamplerange ); + llsamplestep = cfg.value("gfs","llsamplestep", llsamplestep); + lasamplestep = cfg.value("gfs","lasamplestep", lasamplestep); + linearOdometryReliability = cfg.value("gfs","linearOdometryReliability",linearOdometryReliability); + angularOdometryReliability = cfg.value("gfs","angularOdometryReliability",angularOdometryReliability); + ebuf = (std::string) cfg.value("gfs","estrategy", ebuf); + considerOdometryCovariance = cfg.value("gfs","considerOdometryCovariance",considerOdometryCovariance); + + } + + + CMD_PARSE_BEGIN(1,argc); + parseString("-cfg",configfilename); /* to avoid the warning*/ + parseString("-filename",filename); + parseString("-outfilename",outfilename); + parseDouble("-xmin",xmin); + parseDouble("-xmax",xmax); + parseDouble("-ymin",ymin); + parseDouble("-ymax",ymax); + parseDouble("-delta",delta); + parseDouble("-maxrange",maxrange); + parseDouble("-maxUrange",maxUrange); + parseDouble("-regscore",regscore); + parseDouble("-critscore",critscore); + parseInt("-kernelSize",kernelSize); + parseDouble("-sigma",sigma); + parseInt("-iterations",iterations); + parseDouble("-lstep",lstep); + parseDouble("-astep",astep); + parseDouble("-maxMove",maxMove); + parseDouble("-srr", srr); + parseDouble("-srt", srt); + parseDouble("-str", str); + parseDouble("-stt", stt); + parseInt("-particles",particles); + parseDouble("-angularUpdate", angularUpdate); + parseDouble("-linearUpdate", linearUpdate); + parseDouble("-lsigma", lsigma); + parseDouble("-lobsGain", ogain); + parseInt("-lskip", lskip); + parseInt("-mapUpdate", mapUpdateTime); + parseInt("-randseed", randseed); + parseFlag("-autosize", autosize); + parseFlag("-stdin", readFromStdin); + parseDouble("-resampleThreshold", resampleThreshold); + parseFlag("-skipMatching", skipMatching); + parseFlag("-onLine", onLine); + parseFlag("-generateMap", generateMap); + parseDouble("-minimumScore", m_minimumScore); + parseDouble("-llsamplerange", llsamplerange); + parseDouble("-lasamplerange", lasamplerange); + parseDouble("-llsamplestep", llsamplestep); + parseDouble("-lasamplestep", lasamplestep); + parseDouble("-linearOdometryReliability",linearOdometryReliability); + parseDouble("-angularOdometryReliability",angularOdometryReliability); + parseString("-estrategy", ebuf); + + parseFlag("-considerOdometryCovariance",considerOdometryCovariance); + CMD_PARSE_END; + + if (filename.length() <=0){ + cout << "no filename specified" << endl; + return -1; + } + return 0; +} + +int GridSlamProcessorThread::loadFiles(const char * fn){ + if (onLine){ + cout << " onLineProcessing" << endl; + return 0; + } + ifstream is; + if (fn) + is.open(fn); + else + is.open(filename.c_str()); + if (! is){ + cout << "no file found" << endl; + return -1; + } + + CarmenConfiguration conf; + conf.load(is); + is.close(); + + sensorMap=conf.computeSensorMap(); + + if (input) + delete input; + + if (! readFromStdin){ + plainStream.open(filename.c_str()); + input=new InputSensorStream(sensorMap, plainStream); + cout << "Plain Stream opened="<< (bool) plainStream << endl; + } else { + input=new InputSensorStream(sensorMap, cin); + cout << "Plain Stream opened on stdin" << endl; + } + return 0; +} + +GridSlamProcessorThread::GridSlamProcessorThread(): GridSlamProcessor(cerr){ + //This are the processor parameters + filename=""; + outfilename=""; + xmin=-100.; + ymin=-100.; + xmax=100.; + ymax=100.; + delta=0.05; + + //scan matching parameters + sigma=0.05; + maxrange=80.; + maxUrange=80.; + regscore=1e4; + lstep=.05; + astep=.05; + kernelSize=1; + iterations=5; + critscore=0.; + maxMove=1.; + lsigma=.075; + ogain=3; + lskip=0; + autosize=false; + skipMatching=false; + + //motion model parameters + srr=0.1, srt=0.1, str=0.1, stt=0.1; + //particle parameters + particles=30; + randseed=0; + + //gfs parameters + angularUpdate=0.5; + linearUpdate=1; + resampleThreshold=0.5; + + input=0; + + pthread_mutex_init(&hp_mutex,0); + pthread_mutex_init(&ind_mutex,0); + pthread_mutex_init(&hist_mutex,0); + running=false; + eventBufferLength=0; + mapUpdateTime=5; + mapTimer=0; + readFromStdin=false; + onLine=false; + generateMap=false; + + // This are the dafault settings for a grid map of 5 cm + llsamplerange=0.01; + llsamplestep=0.01; + lasamplerange=0.005; + lasamplestep=0.005; + linearOdometryReliability=0.; + angularOdometryReliability=0.; + + considerOdometryCovariance=false; +/* + // This are the dafault settings for a grid map of 10 cm + m_llsamplerange=0.1; + m_llsamplestep=0.1; + m_lasamplerange=0.02; + m_lasamplestep=0.01; +*/ + // This are the dafault settings for a grid map of 20/25 cm +/* + m_llsamplerange=0.2; + m_llsamplestep=0.1; + m_lasamplerange=0.02; + m_lasamplestep=0.01; + m_generateMap=false; +*/ + + +} + +GridSlamProcessorThread::~GridSlamProcessorThread(){ + pthread_mutex_destroy(&hp_mutex); + pthread_mutex_destroy(&ind_mutex); + pthread_mutex_destroy(&hist_mutex); + + for (deque::const_iterator it=eventBuffer.begin(); it!=eventBuffer.end(); it++) + delete *it; +} + + +void * GridSlamProcessorThread::fastslamthread(GridSlamProcessorThread* gpt){ + if (! gpt->input && ! gpt->onLine) + return 0; + + + //if started online retrieve the settings from the connection +#ifdef CARMEN_SUPPORT + if (gpt->onLine){ + cout << "starting the process:" << endl; + CarmenWrapper::initializeIPC(gpt->m_argv[0]); + CarmenWrapper::start(gpt->m_argv[0]); + cout << "Waiting for retrieving the sensor map:" << endl; + while (! CarmenWrapper::sensorMapComputed()){ + usleep(500000); + cout << "." << flush; + } + gpt->sensorMap=CarmenWrapper::sensorMap(); + cout << "Connected " << endl; + } +#else + if (gpt->onLine){ + cout << "FATAL ERROR: cannot run online without the carmen support" << endl; + DoneEvent *done=new DoneEvent; + gpt->addEvent(done); + return 0; + } +#endif + + gpt->setSensorMap(gpt->sensorMap); + gpt->setMatchingParameters(gpt->maxUrange, gpt->maxrange, gpt->sigma, gpt->kernelSize, gpt->lstep, gpt->astep, gpt->iterations, gpt->lsigma, gpt->ogain, gpt->lskip); + + double xmin=gpt->xmin, + ymin=gpt->ymin, + xmax=gpt->xmax, + ymax=gpt->ymax; + + OrientedPoint initialPose(0,0,0); + + if (gpt->autosize){ + if (gpt->readFromStdin || gpt->onLine) + cout << "Error, cant autosize form stdin" << endl; + SensorLog * log=new SensorLog(gpt->sensorMap); + ifstream is(gpt->filename.c_str()); + log->load(is); + is.close(); + initialPose=gpt->boundingBox(log, xmin, ymin, xmax, ymax); + delete log; + } + + if( gpt->infoStream()){ + gpt->infoStream() << " initialPose=" << initialPose.x << " " << initialPose.y << " " << initialPose.theta + << cout << " xmin=" << xmin <<" ymin=" << ymin <<" xmax=" << xmax <<" ymax=" << ymax << endl; + } + gpt->setMotionModelParameters(gpt->srr, gpt->srt, gpt->str, gpt->stt); + gpt->setUpdateDistances(gpt->linearUpdate, gpt->angularUpdate, gpt->resampleThreshold); + gpt->setgenerateMap(gpt->generateMap); + gpt->GridSlamProcessor::init(gpt->particles, xmin, ymin, xmax, ymax, gpt->delta, initialPose); + gpt->setllsamplerange(gpt->llsamplerange); + gpt->setllsamplestep(gpt->llsamplestep); + gpt->setlasamplerange(gpt->llsamplerange); + gpt->setlasamplestep(gpt->llsamplestep); + +#define printParam(n)\ + gpt->outputStream() \ + << "PARAM " << \ + #n \ + << " " << gpt->n << endl + + if (gpt->outfilename.length()>0 ){ + gpt->outputStream().open(gpt->outfilename.c_str()); + printParam(filename); + printParam(outfilename); + printParam(xmin); + printParam(ymin); + printParam(xmax); + printParam(ymax); + printParam(delta); + + //scan matching parameters + printParam(sigma); + printParam(maxrange); + printParam(maxUrange); + printParam(regscore); + printParam(lstep); + printParam(astep); + printParam(kernelSize); + printParam(iterations); + printParam(critscore); + printParam(maxMove); + printParam(lsigma); + printParam(ogain); + printParam(lskip); + printParam(autosize); + printParam(skipMatching); + + //motion model parameters + printParam(srr); + printParam(srt); + printParam(str); + printParam(stt); + //particle parameters + printParam(particles); + printParam(randseed); + + //gfs parameters + printParam(angularUpdate); + printParam(linearUpdate); + printParam(resampleThreshold); + + printParam(llsamplerange); + printParam(lasamplerange); + printParam(llsamplestep); + printParam(lasamplestep); + } + #undef printParam + + if (gpt->randseed!=0) + sampleGaussian(1,gpt->randseed); + if (!gpt->infoStream()){ + cerr << "cant open info stream for writing by unuseful debug messages" << endl; + } else { + gpt->infoStream() << "setting randseed" << gpt->randseed<< endl; + } + + +#ifdef CARMEN_SUPPORT + list rrlist; + if (gpt->onLine){ + RangeReading rr(0,0); + while (1){ + while (CarmenWrapper::getReading(rr)){ + RangeReading* nr=new RangeReading(rr); + rrlist.push_back(nr); + gpt->processScan(*nr); + } + } + } +#endif + ofstream rawpath("rawpath.dat"); + if (!gpt->onLine){ + while(*(gpt->input) && gpt->running){ + const SensorReading* r; + (*(gpt->input)) >> r; + if (! r) + continue; + const RangeReading* rr=dynamic_cast(r); + if (rr && gpt->running){ + const RangeSensor* rs=dynamic_cast(rr->getSensor()); + assert (rs && rs->beams().size()==rr->size()); + + bool processed=gpt->processScan(*rr); + rawpath << rr->getPose().x << " " << rr->getPose().y << " " << rr->getPose().theta << endl; + if (0 && processed){ + cerr << "Retrieving state .. "; + TNodeVector trajetories=gpt->getTrajectories(); + cerr << "Done" << endl; + cerr << "Deleting Tree state .. "; + for (TNodeVector::iterator it=trajetories.begin(); it!=trajetories.end(); it++) + delete *it; + cerr << "Done" << endl; + } +// if (0 && processed){ +// cerr << "generating copy" << endl;; +// GridSlamProcessor* m_gsp=gpt->clone(); +// Map* pmap=m_gsp->getParticles()[0].map.toDoubleMap() ; +// cerr << "deleting" << endl; +// delete m_gsp; +// delete pmap; +// } + } + const OdometryReading* o=dynamic_cast(r); + if (o && gpt->running){ + gpt->processTruePos(*o); + TruePosEvent* truepos=new TruePosEvent; + truepos->pose=o->getPose(); + } + } + } + rawpath.close(); + + TNodeVector trajetories=gpt->getTrajectories(); + cerr << "WRITING WEIGHTS" << endl; + int pnumber=0; + for (TNodeVector::iterator it=trajetories.begin(); it!=trajetories.end(); it++){ + char buf[10]; + sprintf(buf, "w-%03d.dat",pnumber); + ofstream weightsStream(buf); + GridSlamProcessor::TNode* n=*it; + double oldWeight=0, oldgWeight=0; + while (n!=0){ + double w=n->weight-oldWeight; + double gw=n->gweight-oldgWeight; + oldWeight=n->weight; + oldgWeight=n->gweight; + weightsStream << w << " " << gw << endl; + n=n->parent; + } + weightsStream.close(); + pnumber++; + cerr << buf << endl; + } + + DoneEvent *done=new DoneEvent; + gpt->addEvent(done); + gpt->infoStream() << "Hallo, I am the gsp thread. I have finished. Do you think it is the case of checking for unlocked mutexes." << endl; + return 0; +} + +std::vector GridSlamProcessorThread::getHypotheses(){ + pthread_mutex_lock(&hp_mutex); + std::vector retval(hypotheses); + pthread_mutex_unlock(&hp_mutex); + return retval; +} + +std::vector GridSlamProcessorThread::getIndexes(){ + pthread_mutex_lock(&ind_mutex); + std::vector retval(indexes); + pthread_mutex_unlock(&ind_mutex); + return retval; +} + +void GridSlamProcessorThread::start(){ + if (running) + return; + running=true; + pthread_create(&gfs_thread, 0, (void * (*)(void *))fastslamthread, (void *) this); +} + +void GridSlamProcessorThread::stop(){ + if (! running){ + cout << "PORCO CAZZO" << endl; + return; + } + running=false; + void * retval; + pthread_join(gfs_thread, &retval); +} + +void GridSlamProcessorThread::onOdometryUpdate(){ + pthread_mutex_lock(&hp_mutex); + hypotheses.clear(); + weightSums.clear(); + for (GridSlamProcessor::ParticleVector::const_iterator part=getParticles().begin(); part!=getParticles().end(); part++ ){ + hypotheses.push_back(part->pose); + weightSums.push_back(part->weightSum); + } + + ParticleMoveEvent* event=new ParticleMoveEvent; + event->scanmatched=false; + event->hypotheses=hypotheses; + event->weightSums=weightSums; + event->neff=m_neff; + pthread_mutex_unlock(&hp_mutex); + + addEvent(event); + + syncOdometryUpdate(); +} + +void GridSlamProcessorThread::onResampleUpdate(){ + pthread_mutex_lock(&ind_mutex); + pthread_mutex_lock(&hp_mutex); + + indexes=GridSlamProcessor::getIndexes(); + + assert (indexes.size()==getParticles().size()); + ResampleEvent* event=new ResampleEvent; + event->indexes=indexes; + + pthread_mutex_unlock(&hp_mutex); + pthread_mutex_unlock(&ind_mutex); + + addEvent(event); + + syncResampleUpdate(); +} + +void GridSlamProcessorThread::onScanmatchUpdate(){ + pthread_mutex_lock(&hp_mutex); + hypotheses.clear(); + weightSums.clear(); + unsigned int bestIdx=0; + double bestWeight=-1e1000; + unsigned int idx=0; + for (GridSlamProcessor::ParticleVector::const_iterator part=getParticles().begin(); part!=getParticles().end(); part++ ){ + hypotheses.push_back(part->pose); + weightSums.push_back(part->weightSum); + if(part->weightSum>bestWeight){ + bestIdx=idx; + bestWeight=part->weightSum; + } + idx++; + } + + ParticleMoveEvent* event=new ParticleMoveEvent; + event->scanmatched=true; + event->hypotheses=hypotheses; + event->weightSums=weightSums; + event->neff=m_neff; + addEvent(event); + + if (! mapTimer){ + MapEvent* event=new MapEvent; + event->index=bestIdx; + event->pmap=new ScanMatcherMap(getParticles()[bestIdx].map); + event->pose=getParticles()[bestIdx].pose; + addEvent(event); + } + + mapTimer++; + mapTimer=mapTimer%mapUpdateTime; + + pthread_mutex_unlock(&hp_mutex); + + syncOdometryUpdate(); +} + +void GridSlamProcessorThread::syncOdometryUpdate(){ +} + +void GridSlamProcessorThread::syncResampleUpdate(){ +} + +void GridSlamProcessorThread::syncScanmatchUpdate(){ +} + +void GridSlamProcessorThread::addEvent(GridSlamProcessorThread::Event * e){ + pthread_mutex_lock(&hist_mutex); + while (eventBuffer.size()>eventBufferLength){ + Event* event=eventBuffer.front(); + delete event; + eventBuffer.pop_front(); + } + eventBuffer.push_back(e); + pthread_mutex_unlock(&hist_mutex); +} + +GridSlamProcessorThread::EventDeque GridSlamProcessorThread::getEvents(){ + pthread_mutex_lock(&hist_mutex); + EventDeque copy(eventBuffer); + eventBuffer.clear(); + pthread_mutex_unlock(&hist_mutex); + return copy; +} + +GridSlamProcessorThread::Event::~Event(){} + +GridSlamProcessorThread::MapEvent::~MapEvent(){ + if (pmap) + delete pmap; +} + +void GridSlamProcessorThread::setEventBufferSize(unsigned int length){ + eventBufferLength=length; +} + +OrientedPoint GridSlamProcessorThread::boundingBox(SensorLog* log, double& xmin, double& ymin, double& xmax, double& ymax) const{ + OrientedPoint initialPose(0,0,0); + initialPose=log->boundingBox(xmin, ymin, xmax, ymax); + xmin-=3*maxrange; + ymin-=3*maxrange; + xmax+=3*maxrange; + ymax+=3*maxrange; + return initialPose; +} diff --git a/src/openslam_gmapping/gui/qgraphpainter.cpp b/src/openslam_gmapping/gui/qgraphpainter.cpp new file mode 100644 index 0000000..ecfac93 --- /dev/null +++ b/src/openslam_gmapping/gui/qgraphpainter.cpp @@ -0,0 +1,141 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include +#include "gmapping/gui/qgraphpainter.h" +#include "moc_qgraphpainter.cpp" +using namespace std; + +QGraphPainter::QGraphPainter( QWidget * parent, const char * name, WFlags f): + QWidget(parent, name, f|WRepaintNoErase|WResizeNoErase){ + m_pixmap=new QPixmap(size()); + m_pixmap->fill(Qt::white); + autoscale=false; + m_useYReference = false; +} + +void QGraphPainter::resizeEvent(QResizeEvent * sizeev){ + m_pixmap->resize(sizeev->size()); +} + +QGraphPainter::~QGraphPainter(){ + delete m_pixmap; +} + +void QGraphPainter::clear(){ + values.clear(); +} + +void QGraphPainter::valueAdded(double v){ + values.push_back(v); +} + +void QGraphPainter::valueAdded(double v, double _min, double _max){ + setRange(_min, _max); + values.push_back(v); +} + +void QGraphPainter::setYReference(double y){ + m_useYReference = true; + reference=y; +} + +void QGraphPainter::disableYReference(){ + m_useYReference = false; +} + + +void QGraphPainter::setTitle(const char* t){ + title=t; +} + +void QGraphPainter::setRange(double _min, double _max){ + min=_min; + max=_max; +} + +void QGraphPainter::setAutoscale(bool a) { + autoscale=a; +} + +bool QGraphPainter::getAutoscale() const { + return autoscale; +} + +void QGraphPainter::timerEvent(QTimerEvent * te) { + if (te->timerId()==timer) + update(); +} + +void QGraphPainter::start(int period){ + timer=startTimer(period); +} + + + +void QGraphPainter::paintEvent ( QPaintEvent * ){ + m_pixmap->fill(Qt::white); + QPainter painter(m_pixmap); + double _min=MAXDOUBLE, _max=-MAXDOUBLE; + if (autoscale){ + for (unsigned int i=0; i<(unsigned int)width() && ivalues[i]?_max:values[i]; + } + } else { + _min=min; + _max=max; + } + + + painter.setPen(Qt::black); + painter.drawRect(0, 0, width(), height()); + const int boundary=2; + int xoffset=40; + double scale=((double)height()-2*boundary-2)/(_max-_min); + + if (m_useYReference) { + painter.setPen(Qt::green); + painter.drawLine(xoffset+boundary/2, height()-(int)(scale*(reference-_min)), + width()-boundary/2, height()-(int)(scale*(reference-_min))); + } + painter.setPen(Qt::blue); + unsigned int start=0; + if (values.size()>(unsigned int)width()-2*boundary-xoffset) + start=values.size()-width()+2*boundary+xoffset; + int oldv=0; + if ((unsigned int)width()-2*boundary-xoffset>1 && values.size()>1) + oldv = (int)(scale*(values[1+start]-_min)) + boundary; + + for (unsigned int i=1; i<(unsigned int)width()-2*boundary-xoffset && iwidth(),m_pixmap->height(),CopyROP); +} + diff --git a/src/openslam_gmapping/gui/qmappainter.cpp b/src/openslam_gmapping/gui/qmappainter.cpp new file mode 100644 index 0000000..b88512e --- /dev/null +++ b/src/openslam_gmapping/gui/qmappainter.cpp @@ -0,0 +1,32 @@ +#include "gmapping/gui/qmappainter.h" +#include "moc_qmappainter.cpp" + +QMapPainter::QMapPainter( QWidget * parent, const char * name, WFlags f): + QWidget(parent, name, f|WRepaintNoErase|WResizeNoErase){ + m_pixmap=new QPixmap(size()); + m_pixmap->fill(Qt::white); +} + +void QMapPainter::resizeEvent(QResizeEvent * sizeev){ + m_pixmap->resize(sizeev->size()); +} + +QMapPainter::~QMapPainter(){ + delete m_pixmap; +} + + +void QMapPainter::timerEvent(QTimerEvent * te) { + if (te->timerId()==timer) + update(); +} + +void QMapPainter::start(int period){ + timer=startTimer(period); +} + + +void QMapPainter::paintEvent ( QPaintEvent * ){ + bitBlt(this,0,0,m_pixmap,0,0,m_pixmap->width(),m_pixmap->height(),CopyROP); +} + diff --git a/src/openslam_gmapping/gui/qnavigatorwidget.cpp b/src/openslam_gmapping/gui/qnavigatorwidget.cpp new file mode 100644 index 0000000..9410002 --- /dev/null +++ b/src/openslam_gmapping/gui/qnavigatorwidget.cpp @@ -0,0 +1,126 @@ +#include "gmapping/gui/qnavigatorwidget.h" +#include +using namespace GMapping; + + +QNavigatorWidget::QNavigatorWidget( QWidget * parent, const char * name, WFlags f) +: QMapPainter(parent, name, f), dumper("navigator", 1){ + robotPose=IntPoint(0,0); + robotHeading=0; + confirmLocalization=false; + repositionRobot=false; + startWalker=false; + enableMotion=false; + goHome=false; + trajectorySent=false; + writeImages=false; + drawRobot=true; + wantsQuit=false; +} + +QNavigatorWidget::~QNavigatorWidget(){} + + +void QNavigatorWidget::mousePressEvent ( QMouseEvent * e ){ + QPoint p=e->pos(); + int mx=p.x(); + int my=height()-p.y(); + if (!(e->state()&Qt::ShiftButton) && e->button()==Qt::LeftButton) { + if (trajectorySent) + trajectoryPoints.clear(); + e->accept(); + IntPoint p=IntPoint(mx, my); + trajectoryPoints.push_back(p); + trajectorySent=false; + } + if (e->state()&Qt::ControlButton && e->button()==Qt::LeftButton){ + e->accept(); + robotPose=IntPoint(mx, my); + repositionRobot=true; + confirmLocalization=true; + } + if (e->state()&Qt::ControlButton && e->button()==Qt::RightButton){ + e->accept(); + IntPoint p(mx, my); + p=p-robotPose; + robotHeading=atan2(p.y, p.x); + repositionRobot=true; + confirmLocalization=true; + } +} + +void QNavigatorWidget::keyPressEvent ( QKeyEvent * e ){ + if (e->key()==Qt::Key_Delete){ + e->accept(); + if (!trajectoryPoints.empty()) + trajectoryPoints.pop_back(); + } + if (e->key()==Qt::Key_S){ + e->accept(); + enableMotion=!enableMotion; + } + if (e->key()==Qt::Key_W){ + e->accept(); + startWalker=!startWalker; + } + if (e->key()==Qt::Key_G){ + e->accept(); + startGlobalLocalization=true; + } + if (e->key()==Qt::Key_T){ + e->accept(); + trajectorySent=true; + } + if (e->key()==Qt::Key_R){ + e->accept(); + goHome=true; + } + if (e->key()==Qt::Key_C){ + e->accept(); + confirmLocalization=true; + + } + if (e->key()==Qt::Key_Q){ + e->accept(); + wantsQuit=true; + + } + if (e->key()==Qt::Key_D){ + e->accept(); + drawRobot=!drawRobot;; + + } +} + +void QNavigatorWidget::paintEvent ( QPaintEvent * ){ + QPixmap pixmap(*m_pixmap); + QPainter painter(&pixmap); + if (trajectorySent) + painter.setPen(Qt::red); + bool first=true; + int oldx=0, oldy=0; + //paint the path + for (std::list::const_iterator it=trajectoryPoints.begin(); it!=trajectoryPoints.end(); it++){ + int x=it->x; + int y=height()-it->y; + if (! first) + painter.drawLine(oldx, oldy, x,y); + oldx=x; + oldy=y; + first=false; + } + //paint the robot + if (drawRobot){ + painter.setPen(Qt::black); + int rx=robotPose.x; + int ry=height()-robotPose.y; + int robotSize=6; + painter.drawLine(rx, ry, + rx+(int)(robotSize*cos(robotHeading)), ry-(int)(robotSize*sin(robotHeading))); + painter.drawEllipse(rx-robotSize, ry-robotSize, 2*robotSize, 2*robotSize); + } + if (writeImages){ + dumper.dump(pixmap); + } + bitBlt(this,0,0,&pixmap,0,0,pixmap.width(),pixmap.height(),CopyROP); +} diff --git a/src/openslam_gmapping/gui/qparticleviewer.cpp b/src/openslam_gmapping/gui/qparticleviewer.cpp new file mode 100644 index 0000000..ccf58e7 --- /dev/null +++ b/src/openslam_gmapping/gui/qparticleviewer.cpp @@ -0,0 +1,452 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#include "gmapping/gui/qparticleviewer.h" +#include "moc_qparticleviewer.cpp" +#include + + +using namespace GMapping; + +QParticleViewer::QParticleViewer( QWidget * parent, const char * name , WFlags f, GridSlamProcessorThread* thread): QWidget(parent, name, f|WRepaintNoErase|WResizeNoErase){ + viewCenter=Point(0.,0.); + setMinimumSize(500,500); + mapscale=10.; + m_pixmap=new QPixmap(500,500); + m_pixmap->fill(Qt::white); + gfs_thread=thread; + tis=0; + m_particleSize=0; + m_refresh=false; + bestMap=0; + dragging=false; + showPaths=0; + showBestPath=1; + count=0; + writeToFile=0; +} + +QParticleViewer::~QParticleViewer(){ + if (m_pixmap) + delete m_pixmap; +} + +void QParticleViewer::paintEvent ( QPaintEvent *paintevent ){ + if (! m_pixmap) + return; + bitBlt(this,0,0,m_pixmap,0,0,m_pixmap->width(),m_pixmap->height(),CopyROP); +} + +void QParticleViewer::mousePressEvent ( QMouseEvent *event ){ + if (event->button()==LeftButton){ + dragging=true; + draggingPos=event->pos(); + } +} +void QParticleViewer::mouseMoveEvent ( QMouseEvent *event ){ + if (dragging){ + QPoint delta=event->pos()-draggingPos; + draggingPos=event->pos(); + viewCenter.x-=delta.x()/mapscale; + viewCenter.y+=delta.y()/mapscale; + update(); + } +} + +void QParticleViewer::mouseReleaseEvent ( QMouseEvent *event ){ + if (event->button()==LeftButton){ + dragging=false; + } +} + +void QParticleViewer::keyPressEvent ( QKeyEvent* e ){ + switch (e->key()){ + case Qt::Key_B: showBestPath=!showBestPath; break; + case Qt::Key_P: showPaths=!showPaths; break; + case Qt::Key_Plus: mapscale *=1.25; break; + case Qt::Key_Minus: mapscale/=1.25; break; + case Qt::Key_C: viewCenter=bestParticlePose; break; + default:; + } +} + + +void QParticleViewer::resizeEvent(QResizeEvent * sizeev){ + if (!m_pixmap) + return; + cerr << "QParticleViewer::resizeEvent" << sizeev->size().width()<< " " << sizeev->size().height() << endl; + m_pixmap->resize(sizeev->size()); +} + +void QParticleViewer::drawParticleMove(const QParticleViewer::OrientedPointVector& oldPose, const QParticleViewer::OrientedPointVector& newPose){ + assert(oldPose.size()==newPose.size()); + QPainter painter(m_pixmap); + painter.setPen(Qt::red); + OrientedPointVector::const_iterator nit=newPose.begin(); + for(OrientedPointVector::const_iterator it=oldPose.begin(); it!=oldPose.end(); it++, nit++){ + IntPoint p0=map2pic(*it); + IntPoint p1=map2pic(*nit); + painter.drawLine( + (int)(p0.x), (int)(p0.y), (int)(p1.x), (int)(p1.y) + ); + } +} + +void QParticleViewer::drawFromFile(){ + if(! tis) + return; + if (tis->atEnd()) + return; + QTextIStream& is=*tis; + + string line=is.readLine(); + istringstream lineStream(line); + string recordType; + lineStream >> recordType; + if (recordType=="LASER_READING"){ + //do nothing with the laser + cout << "l" << flush; + } + if (recordType=="ODO_UPDATE"){ + //just move the particles + if (m_particleSize) + m_refresh=true; + m_oldPose=m_newPose; + m_newPose.clear(); + unsigned int size; + lineStream >> size; + if (!m_particleSize) + m_particleSize=size; + assert(m_particleSize==size); + for (unsigned int i=0; i< size; i++){ + OrientedPoint p; + double w; + lineStream >> p.x; + lineStream >> p.y; + lineStream >> p.theta; + lineStream >> w; + m_newPose.push_back(p); + } + cout << "o" << flush; + } + if (recordType=="SM_UPDATE"){ + if (m_particleSize) + m_refresh=true; + m_oldPose=m_newPose; + m_newPose.clear(); + unsigned int size; + lineStream >> size; + if (!m_particleSize) + m_particleSize=size; + assert(m_particleSize==size); + for (unsigned int i=0; i< size; i++){ + OrientedPoint p; + double w; + lineStream >> p.x; + lineStream >> p.y; + lineStream >> p.theta; + lineStream >> w; + m_newPose.push_back(p); + } + cout << "u" << flush; + } + if (recordType=="RESAMPLE"){ + unsigned int size; + lineStream >> size; + if (!m_particleSize) + m_particleSize=size; + assert(m_particleSize==size); + OrientedPointVector temp(size); + for (unsigned int i=0; i< size; i++){ + unsigned int ind; + lineStream >> ind; + temp[i]=m_newPose[ind]; + } + m_newPose=temp; + cout << "r" << flush; + } + if (m_refresh){ + drawParticleMove(m_oldPose, m_newPose); + m_refresh=false; + } +} + +void QParticleViewer::drawMap(const ScanMatcherMap& map){ + //cout << "Map received" << map.getMapSizeX() << " " << map.getMapSizeY() << endl; + QPainter painter(m_pixmap); + painter.setPen(Qt::black); + m_pixmap->fill(QColor(200,200,255)); + unsigned int count=0; + + Point wmin=Point(pic2map(IntPoint(-m_pixmap->width()/2,m_pixmap->height()/2))); + Point wmax=Point(pic2map(IntPoint(m_pixmap->width()/2,-m_pixmap->height()/2))); + IntPoint imin=map.world2map(wmin); + IntPoint imax=map.world2map(wmax); + /* cout << __func__ << endl; + cout << " viewCenter=" << viewCenter.x << "," << viewCenter.y << endl; + cout << " wmin=" << wmin.x << "," << wmin.y << " wmax=" << wmax.x << "," << wmax.y << endl; + cout << " imin=" << imin.x << "," << imin.y << " imax=" << imax.x << "," << imax.y << endl; + cout << " mapSize=" << map.getMapSizeX() << "," << map.getMapSizeY() << endl;*/ + for(int x=0; xwidth(); x++) + for(int y=0; yheight(); y++){ + //IntPoint ip=IntPoint(x,y)+imin; + //Point p=map.map2world(ip); + Point p=pic2map(IntPoint(x-m_pixmap->width()/2, + y-m_pixmap->height()/2)); + + //if (map.storage().isInside(map.world2map(p))){ + double v=map.cell(p); + if (v>=0){ + int grayValue=255-(int)(255.*v); + painter.setPen(QColor(grayValue, grayValue, grayValue)); + painter.drawPoint(x,y); + count++; + } + } +} + + +void QParticleViewer::drawFromMemory(){ + if (! gfs_thread) + return; + m_pixmap->fill(Qt::white); + GridSlamProcessorThread::EventDeque events=gfs_thread->getEvents(); + for (GridSlamProcessorThread::EventDeque::const_iterator it=events.begin(); it!=events.end();it++){ + GridSlamProcessorThread::MapEvent* mapEvent= dynamic_cast(*it); + if (mapEvent){ + //cout << "Map: bestIdx=" << mapEvent->index <pmap; + mapEvent->pmap=0; + bestParticlePose=mapEvent->pose; + delete mapEvent; + }else{ + GridSlamProcessorThread::DoneEvent* doneEvent= dynamic_cast(*it); + if (doneEvent){ + gfs_thread->stop(); + delete doneEvent; + } else + history.push_back(*it); + } + + } + if (bestMap) + drawMap(*bestMap); + + unsigned int particleSize=0; + std::vector oldPose, newPose; + vector indexes; + + GridSlamProcessorThread::EventDeque::reverse_iterator it=history.rbegin(); + while (!particleSize && it!=history.rend()){ + GridSlamProcessorThread::ParticleMoveEvent* move= dynamic_cast(*it); + GridSlamProcessorThread::ResampleEvent* resample= dynamic_cast(*it); + if (move) + particleSize=move->hypotheses.size(); + if (resample) + particleSize=resample->indexes.size(); + it++; + } + + //check for the best index + double wmax=-1e2000; + unsigned int bestIdx=0; + bool emitted=false; + for (unsigned int i=0; i(*it); + if (move && move->scanmatched){ + double cw=move->weightSums[currentIndex]; + if (cw>wmax){ + wmax=cw; + bestIdx=currentIndex; + } + done=true; + if (! emitted){ + emit neffChanged(move->neff/particleSize); + emitted=true; + } + } + GridSlamProcessorThread::ResampleEvent* resample= dynamic_cast(*it); + if (resample){ + currentIndex=resample->indexes[currentIndex]; + } + } + } + //cout << "bestIdx=" << bestIdx << endl; + QPainter painter(m_pixmap); + + for (unsigned int i=0; i(*it); + if (move){ + OrientedPoint pold=move->hypotheses[currentIndex]; + IntPoint p0=map2pic(pold)+IntPoint(m_pixmap->width()/2,m_pixmap->height()/2); + IntPoint p1=map2pic(pnew)+IntPoint(m_pixmap->width()/2,m_pixmap->height()/2);; + if (first){ + painter.drawPoint(p0.x, p0.y); + } else { + painter.drawLine(p0.x, p0.y, p1.x, p1.y); + } + first=false; + if (!(showPaths || showBestPath&&i==particleSize)) + break; + pnew=pold; + } + GridSlamProcessorThread::ResampleEvent* resample= dynamic_cast(*it); + if (resample && ! first){ + currentIndex=resample->indexes[currentIndex]; + } + } + } + if (writeToFile && bestMap){ + if (! (count%writeToFile) ){ + char name[100]; + sprintf(name,"dump-%05d.png", count/writeToFile); + cout << " Writing " << name <<" ..." << flush; + QImage image=m_pixmap->convertToImage(); + bool rv=image.save(name,"PNG"); + if (rv) + cout << " Done"; + else + cout << " ERROR"; + cout << endl; + } + count++; + } +} + +void QParticleViewer::timerEvent(QTimerEvent * te) { + if (te->timerId()==timer) { + if ( tis) + drawFromFile(); + else{ + drawFromMemory(); + update(); + } + } +} + + +void QParticleViewer::start(int period){ + timer=startTimer(period); +} + +void QParticleViewer::refreshParameters(){ + //scanmatcher + matchingParameters.maxrange=gfs_thread->getlaserMaxRange(); + matchingParameters.urange=gfs_thread->getusableRange(); + matchingParameters.ssigma=gfs_thread->getgaussianSigma(); + matchingParameters.sreg=gfs_thread->getregScore(); + matchingParameters.scrit=gfs_thread->getcritScore(); + matchingParameters.ksize=gfs_thread->getkernelSize(); + matchingParameters.lstep=gfs_thread->getoptLinearDelta(); + matchingParameters.astep=gfs_thread->getoptAngularDelta(); + matchingParameters.iterations=gfs_thread->getoptRecursiveIterations(); + + //start + startParameters.srr=gfs_thread->getsrr(); + startParameters.stt=gfs_thread->getstt(); + startParameters.str=gfs_thread->getstr(); + startParameters.srt=gfs_thread->getsrt(); + + startParameters.xmin=gfs_thread->getxmin(); + startParameters.ymin=gfs_thread->getymin(); + startParameters.xmax=gfs_thread->getxmax(); + startParameters.ymax=gfs_thread->getymax(); + startParameters.delta=gfs_thread->getdelta(); + + startParameters.particles=gfs_thread->getParticles().size(); + startParameters.resampleThreshold=gfs_thread->getresampleThreshold(); + startParameters.outFileName=0; +} + +void QParticleViewer::start(){ + gfs_thread->setMatchingParameters( + matchingParameters.urange, + matchingParameters.maxrange, + matchingParameters.ssigma, + matchingParameters.ksize, + matchingParameters.lstep, + matchingParameters.astep, + matchingParameters.iterations, + startParameters.lsigma, + startParameters.lgain, + startParameters.lskip); + gfs_thread->setMotionModelParameters( + startParameters.srr, + startParameters.srt, + startParameters.srt, + startParameters.stt); + gfs_thread->setUpdateDistances( + startParameters.linearUpdate, + startParameters.angularUpdate, + startParameters.resampleThreshold + ); + ((GridSlamProcessor*)(gfs_thread))->init( + startParameters.particles, + startParameters.xmin, + startParameters.ymin, + startParameters.xmax, + startParameters.ymax, + startParameters.delta, + startParameters.initialPose); + gfs_thread->start(); +} + +void QParticleViewer::setMatchingParameters(const QParticleViewer::MatchingParameters& mp){ + matchingParameters=mp; +} + +void QParticleViewer::setStartParameters(const QParticleViewer::StartParameters& sp){ + startParameters=sp; +} + +void QParticleViewer::stop(){ + gfs_thread->stop(); +} + +void QParticleViewer::loadFile(const char * fn){ + gfs_thread->loadFiles(fn); + /* + startParameters.initialPose= + gfs_thread->boundingBox( + startParameters.xmin, + startParameters.ymin, + startParameters.xmax, + startParameters.ymax); + */ +} diff --git a/src/openslam_gmapping/gui/qpixmapdumper.cpp b/src/openslam_gmapping/gui/qpixmapdumper.cpp new file mode 100644 index 0000000..abf0140 --- /dev/null +++ b/src/openslam_gmapping/gui/qpixmapdumper.cpp @@ -0,0 +1,33 @@ +#include "gmapping/gui/qpixmapdumper.h" +#include +#include + +QPixmapDumper::QPixmapDumper(std::string p, int c){ + format="PNG"; + prefix=p; + reset(); + cycles=c; +} + +void QPixmapDumper::reset(){ + cycles=0; + frame=0; + counter=0; +} + +#define filename_bufsize 1024 + +bool QPixmapDumper::dump(const QPixmap& pixmap){ + bool processed=false; + if (!(counter%cycles)){ + char buf[filename_bufsize]; + sprintf(buf,"%s-%05d.%s",prefix.c_str(), frame, format.c_str()); + QImage image=pixmap.convertToImage(); + image.save(QString(buf), format.c_str(),0); + frame ++; + } + counter++; + return processed; +} + + diff --git a/src/openslam_gmapping/gui/qslamandnavwidget.cpp b/src/openslam_gmapping/gui/qslamandnavwidget.cpp new file mode 100644 index 0000000..3dc1ff4 --- /dev/null +++ b/src/openslam_gmapping/gui/qslamandnavwidget.cpp @@ -0,0 +1,128 @@ +#include "gmapping/gui/qslamandnavwidget.h" +#include +using namespace GMapping; + + +QSLAMandNavWidget::QSLAMandNavWidget( QWidget * parent, const char * name, WFlags f) +: QMapPainter(parent, name, f), dumper("slamandnav", 1){ + robotPose=IntPoint(0,0); + robotHeading=0; + slamRestart=false; + slamFinished=false; + enableMotion=false; + startWalker=false; + trajectorySent=false; + goHome=false; + wantsQuit=false; + printHelp=false; + saveGoalPoints=false; + writeImages=false; + drawRobot=true; +} + +QSLAMandNavWidget::~QSLAMandNavWidget(){} + + +void QSLAMandNavWidget::mousePressEvent ( QMouseEvent * e ){ + QPoint p=e->pos(); + int mx=p.x(); + int my=height()-p.y(); + if ( e->state()&Qt::ShiftButton && e->button()==Qt::LeftButton) { + if (trajectorySent) + trajectoryPoints.clear(); + e->accept(); + IntPoint p=IntPoint(mx, my); + trajectoryPoints.push_back(p); + trajectorySent=false; + } +} + +void QSLAMandNavWidget::keyPressEvent ( QKeyEvent * e ){ + if (e->key()==Qt::Key_Delete){ + e->accept(); + if (!trajectoryPoints.empty()) + trajectoryPoints.pop_back(); + } + if (e->key()==Qt::Key_S){ + e->accept(); + enableMotion=!enableMotion; + } + if (e->key()==Qt::Key_W){ + e->accept(); + startWalker=!startWalker; + } + if (e->key()==Qt::Key_G){ + e->accept(); + slamRestart=true; + } + if (e->key()==Qt::Key_T){ + e->accept(); + trajectorySent=true; + } + if (e->key()==Qt::Key_R){ + e->accept(); + goHome=true; + } + if (e->key()==Qt::Key_C){ + e->accept(); + slamFinished=true; + + } + if (e->key()==Qt::Key_Q){ + e->accept(); + wantsQuit=true; + + } + if (e->key()==Qt::Key_H){ + e->accept(); + printHelp=true; + //BABSI + //insert the help here + } + if (e->key()==Qt::Key_Y){ + e->accept(); + saveGoalPoints=true; + //BABSI + //insert the help here + } + if (e->key()==Qt::Key_D){ + e->accept(); + drawRobot=!drawRobot; + //BABSI + //insert the help here + } +} + +void QSLAMandNavWidget::paintEvent ( QPaintEvent * ){ + QPixmap pixmap(*m_pixmap); + QPainter painter(&pixmap); + if (trajectorySent) + painter.setPen(Qt::red); + bool first=true; + int oldx=0, oldy=0; + //paint the path + for (std::list::const_iterator it=trajectoryPoints.begin(); it!=trajectoryPoints.end(); it++){ + int x=it->x; + int y=height()-it->y; + if (! first) + painter.drawLine(oldx, oldy, x,y); + oldx=x; + oldy=y; + first=false; + } + + //paint the robot + if (drawRobot){ + painter.setPen(Qt::black); + int rx=robotPose.x; + int ry=height()-robotPose.y; + int robotSize=6; + painter.drawLine(rx, ry, + rx+(int)(robotSize*cos(robotHeading)), ry-(int)(robotSize*sin(robotHeading))); + painter.drawEllipse(rx-robotSize, ry-robotSize, 2*robotSize, 2*robotSize); + } + if (writeImages){ + dumper.dump(pixmap); + } + bitBlt(this,0,0,&pixmap,0,0,pixmap.width(),pixmap.height(),CopyROP); +} diff --git a/src/openslam_gmapping/include/gmapping/carmenwrapper/carmenwrapper.h b/src/openslam_gmapping/include/gmapping/carmenwrapper/carmenwrapper.h new file mode 100644 index 0000000..d043f39 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/carmenwrapper/carmenwrapper.h @@ -0,0 +1,107 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef CARMENWRAPPER_H +#define CARMENWRAPPER_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace GMapping{ + +class CarmenWrapper { +public: + static void initializeIPC(const char* name); + static bool start(const char* name); + static bool isRunning(); + static void lock(); + static void unlock(); + static int registerLocalizationMessages(); + + static int queueLength(); + static OrientedPoint getTruePos(); + static bool getReading(RangeReading& reading); + static void addReading(RangeReading& reading); + static const SensorMap& sensorMap(); + static bool sensorMapComputed(); + static bool isStopped(); + +// conversion function + static carmen_robot_laser_message reading2carmen(const RangeReading& reading); + static RangeReading carmen2reading(const carmen_robot_laser_message& msg); + static carmen_point_t point2carmen (const OrientedPoint& p); + static OrientedPoint carmen2point (const carmen_point_t& p); + + +// carmen interaction + static void robot_frontlaser_handler(carmen_robot_laser_message* frontlaser); + static void robot_rearlaser_handler(carmen_robot_laser_message* frontlaser); + static void simulator_truepos_handler(carmen_simulator_truepos_message* truepos); + //babsi: + static void navigator_go_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void*) ; + static void navigator_stop_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void*) ; + + //babsi: + static void publish_globalpos(carmen_localize_summary_p summary); + static void publish_particles(carmen_localize_particle_filter_p filter, + carmen_localize_summary_p summary); + + static void shutdown_module(int sig); + + private: + static std::deque m_rangeDeque; + static sem_t m_dequeSem; + static pthread_mutex_t m_mutex, m_lock; + static pthread_t m_readingThread; + static void * m_reading_function(void*); + static bool m_threadRunning; + static SensorMap m_sensorMap; + static RangeSensor* m_frontLaser, *m_rearLaser; + static OrientedPoint m_truepos; + static bool stopped; +}; + +} //end namespace + + + +#endif +/* +int main (int argc, char** argv) { + + CarmenWrapper::init_carmen(argc, argv); + while (true) { + IPC_listenWait(100); + } + return 1; +} +*/ diff --git a/src/openslam_gmapping/include/gmapping/configfile/configfile.h b/src/openslam_gmapping/include/gmapping/configfile/configfile.h new file mode 100644 index 0000000..140a731 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/configfile/configfile.h @@ -0,0 +1,117 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef CONFIGFILE_H +#define CONFIGFILE_H + +#include +#include +#include +#include + +namespace GMapping{ + +class CONFIGFILE_EXPORT AutoVal { +public: + AutoVal() {}; + explicit AutoVal(const std::string&); + explicit AutoVal(double); + explicit AutoVal(int); + explicit AutoVal(unsigned int); + explicit AutoVal(bool); + explicit AutoVal(const char*); + + AutoVal(const AutoVal&); + AutoVal& operator=(const AutoVal&); + + AutoVal& operator=(double); + AutoVal& operator=(int); + AutoVal& operator=(unsigned int); + AutoVal& operator=(bool); + AutoVal& operator=(const std::string&); + +public: + operator std::string() const; + operator double() const; + operator int() const; + operator unsigned int() const; + operator bool() const; + +protected: + std::string toLower(const std::string& source) const; + +private: + std::string m_value; +}; + +class CONFIGFILE_EXPORT ConfigFile { + std::map m_content; + +public: + ConfigFile(); + ConfigFile(const std::string& configFile); + ConfigFile(const char* configFile); + + bool read(const std::string& configFile); + bool read(const char* configFile); + + + const AutoVal& value(const std::string& section, + const std::string& entry) const; + + const AutoVal& value(const std::string& section, + const std::string& entry, + double def); + + const AutoVal& value(const std::string& section, + const std::string& entry, + const char* def); + + const AutoVal& value(const std::string& section, + const std::string& entry, + bool def); + + const AutoVal& value(const std::string& section, + const std::string& entry, + int def); + + const AutoVal& value(const std::string& section, + const std::string& entry, + unsigned int def); + + const AutoVal& value(const std::string& section, + const std::string& entry, + const std::string& def); + + void dumpValues(std::ostream& out); + + + protected: + std::string trim(const std::string& source, char const* delims = " \t\r\n") const; + std::string truncate(const std::string& source, const char* atChar) const; + std::string toLower(const std::string& source) const; + void insertValue(const std::string& section, const std::string& entry, const std::string& thevalue ); +}; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/grid/accessstate.h b/src/openslam_gmapping/include/gmapping/grid/accessstate.h new file mode 100644 index 0000000..43bd86a --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/grid/accessstate.h @@ -0,0 +1,9 @@ +#ifndef ACCESSTATE_H +#define ACCESSTATE_H + +namespace GMapping { +enum AccessibilityState{Outside=0x0, Inside=0x1, Allocated=0x2}; +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/grid/array2d.h b/src/openslam_gmapping/include/gmapping/grid/array2d.h new file mode 100644 index 0000000..0d0c4eb --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/grid/array2d.h @@ -0,0 +1,184 @@ +#ifndef ARRAY2D_H +#define ARRAY2D_H + +#include +#include +#include "gmapping/grid/accessstate.h" + +#include + +namespace GMapping { + +template class Array2D{ + public: + Array2D(int xsize=0, int ysize=0); + Array2D& operator=(const Array2D &); + Array2D(const Array2D &); + ~Array2D(); + void clear(); + void resize(int xmin, int ymin, int xmax, int ymax); + + + inline bool isInside(int x, int y) const; + inline const Cell& cell(int x, int y) const; + inline Cell& cell(int x, int y); + inline AccessibilityState cellState(int x, int y) const { return (AccessibilityState) (isInside(x,y)?(Inside|Allocated):Outside);} + + inline bool isInside(const IntPoint& p) const { return isInside(p.x, p.y);} + inline const Cell& cell(const IntPoint& p) const {return cell(p.x,p.y);} + inline Cell& cell(const IntPoint& p) {return cell(p.x,p.y);} + inline AccessibilityState cellState(const IntPoint& p) const { return cellState(p.x, p.y);} + + inline int getPatchSize() const{return 0;} + inline int getPatchMagnitude() const{return 0;} + inline int getXSize() const {return m_xsize;} + inline int getYSize() const {return m_ysize;} + inline Cell** cells() {return m_cells;} + Cell ** m_cells; + protected: + int m_xsize, m_ysize; +}; + + +template +Array2D::Array2D(int xsize, int ysize){ +// assert(xsize>0); +// assert(ysize>0); + m_xsize=xsize; + m_ysize=ysize; + if (m_xsize>0 && m_ysize>0){ + m_cells=new Cell*[m_xsize]; + for (int i=0; i +class HierarchicalArray2D: public Array2D > >{ + public: + typedef std::set< point, pointcomparator > PointSet; + HierarchicalArray2D(int xsize, int ysize, int patchMagnitude=5); + HierarchicalArray2D(const HierarchicalArray2D& hg); + HierarchicalArray2D& operator=(const HierarchicalArray2D& hg); + virtual ~HierarchicalArray2D(){} + void resize(int ixmin, int iymin, int ixmax, int iymax); + inline int getPatchSize() const {return m_patchMagnitude;} + inline int getPatchMagnitude() const {return m_patchMagnitude;} + + inline const Cell& cell(int x, int y) const; + inline Cell& cell(int x, int y); + inline bool isAllocated(int x, int y) const; + inline AccessibilityState cellState(int x, int y) const ; + inline IntPoint patchIndexes(int x, int y) const; + + inline const Cell& cell(const IntPoint& p) const { return cell(p.x,p.y); } + inline Cell& cell(const IntPoint& p) { return cell(p.x,p.y); } + inline bool isAllocated(const IntPoint& p) const { return isAllocated(p.x,p.y);} + inline AccessibilityState cellState(const IntPoint& p) const { return cellState(p.x,p.y); } + inline IntPoint patchIndexes(const IntPoint& p) const { return patchIndexes(p.x,p.y);} + + inline void setActiveArea(const PointSet&, bool patchCoords=false); + const PointSet& getActiveArea() const {return m_activeArea; } + inline void allocActiveArea(); + protected: + virtual Array2D * createPatch(const IntPoint& p) const; + PointSet m_activeArea; + int m_patchMagnitude; + int m_patchSize; +}; + +template +HierarchicalArray2D::HierarchicalArray2D(int xsize, int ysize, int patchMagnitude) + :Array2D > >::Array2D((xsize>>patchMagnitude), (ysize>>patchMagnitude)){ + m_patchMagnitude=patchMagnitude; + m_patchSize=1< +HierarchicalArray2D::HierarchicalArray2D(const HierarchicalArray2D& hg) + :Array2D > >::Array2D((hg.m_xsize>>hg.m_patchMagnitude), (hg.m_ysize>>hg.m_patchMagnitude)) // added by cyrill: if you have a resize error, check this again +{ + this->m_xsize=hg.m_xsize; + this->m_ysize=hg.m_ysize; + this->m_cells=new autoptr< Array2D >*[this->m_xsize]; + for (int x=0; xm_xsize; x++){ + this->m_cells[x]=new autoptr< Array2D >[this->m_ysize]; + for (int y=0; ym_ysize; y++) + this->m_cells[x][y]=hg.m_cells[x][y]; + } + this->m_patchMagnitude=hg.m_patchMagnitude; + this->m_patchSize=hg.m_patchSize; +} + +template +void HierarchicalArray2D::resize(int xmin, int ymin, int xmax, int ymax){ + int xsize=xmax-xmin; + int ysize=ymax-ymin; + autoptr< Array2D > ** newcells=new autoptr< Array2D > *[xsize]; + for (int x=0; x >[ysize]; + for (int y=0; y >(0); + } + } + int dx= xmin < 0 ? 0 : xmin; + int dy= ymin < 0 ? 0 : ymin; + int Dx=xmaxm_xsize?xmax:this->m_xsize; + int Dy=ymaxm_ysize?ymax:this->m_ysize; + for (int x=dx; xm_cells[x][y]; + } + delete [] this->m_cells[x]; + } + delete [] this->m_cells; + this->m_cells=newcells; + this->m_xsize=xsize; + this->m_ysize=ysize; +} + +template +HierarchicalArray2D& HierarchicalArray2D::operator=(const HierarchicalArray2D& hg){ +// Array2D > >::operator=(hg); + if (this->m_xsize!=hg.m_xsize || this->m_ysize!=hg.m_ysize){ + for (int i=0; im_xsize; i++) + delete [] this->m_cells[i]; + delete [] this->m_cells; + this->m_xsize=hg.m_xsize; + this->m_ysize=hg.m_ysize; + this->m_cells=new autoptr< Array2D >*[this->m_xsize]; + for (int i=0; im_xsize; i++) + this->m_cells[i]=new autoptr< Array2D > [this->m_ysize]; + } + for (int x=0; xm_xsize; x++) + for (int y=0; ym_ysize; y++) + this->m_cells[x][y]=hg.m_cells[x][y]; + + m_activeArea.clear(); + m_patchMagnitude=hg.m_patchMagnitude; + m_patchSize=hg.m_patchSize; + return *this; +} + + +template +void HierarchicalArray2D::setActiveArea(const typename HierarchicalArray2D::PointSet& aa, bool patchCoords){ + m_activeArea.clear(); + for (PointSet::const_iterator it= aa.begin(); it!=aa.end(); it++){ + IntPoint p; + if (patchCoords) + p=*it; + else + p=patchIndexes(*it); + m_activeArea.insert(p); + } +} + +template +Array2D* HierarchicalArray2D::createPatch(const IntPoint& ) const{ + return new Array2D(1< +AccessibilityState HierarchicalArray2D::cellState(int x, int y) const { + if (this->isInside(patchIndexes(x,y))) + if(isAllocated(x,y)) + return (AccessibilityState)((int)Inside|(int)Allocated); + else + return Inside; + return Outside; +} + +template +void HierarchicalArray2D::allocActiveArea(){ + for (PointSet::const_iterator it= m_activeArea.begin(); it!=m_activeArea.end(); it++){ + const autoptr< Array2D >& ptr=this->m_cells[it->x][it->y]; + Array2D* patch=0; + if (!ptr){ + patch=createPatch(*it); + } else{ + patch=new Array2D(*ptr); + } + this->m_cells[it->x][it->y]=autoptr< Array2D >(patch); + } +} + +template +bool HierarchicalArray2D::isAllocated(int x, int y) const{ + IntPoint c=patchIndexes(x,y); + autoptr< Array2D >& ptr=this->m_cells[c.x][c.y]; + return (ptr != 0); +} + +template +IntPoint HierarchicalArray2D::patchIndexes(int x, int y) const{ + if (x>=0 && y>=0) + return IntPoint(x>>m_patchMagnitude, y>>m_patchMagnitude); + return IntPoint(-1, -1); +} + +template +Cell& HierarchicalArray2D::cell(int x, int y){ + IntPoint c=patchIndexes(x,y); + assert(this->isInside(c.x, c.y)); + if (!this->m_cells[c.x][c.y]){ + Array2D* patch=createPatch(IntPoint(x,y)); + this->m_cells[c.x][c.y]=autoptr< Array2D >(patch); + //cerr << "!!! FATAL: your dick is going to fall down" << endl; + } + autoptr< Array2D >& ptr=this->m_cells[c.x][c.y]; + return (*ptr).cell(IntPoint(x-(c.x< +const Cell& HierarchicalArray2D::cell(int x, int y) const{ + assert(isAllocated(x,y)); + IntPoint c=patchIndexes(x,y); + const autoptr< Array2D >& ptr=this->m_cells[c.x][c.y]; + return (*ptr).cell(IntPoint(x-(c.x< +#include +#include "gmapping/grid/accessstate.h" +#include "gmapping/grid/array2d.h" + +namespace GMapping { +/** +The cells have to define the special value Cell::Unknown to handle with the unallocated areas. +The cells have to define (int) constructor; +*/ +typedef Array2D DoubleArray2D; + +template +class Map{ + public: + Map(int mapSizeX, int mapSizeY, double delta); + Map(const Point& center, double worldSizeX, double worldSizeY, double delta); + Map(const Point& center, double xmin, double ymin, double xmax, double ymax, double delta); + /* the standard implementation works filen in this case*/ + //Map(const Map& g); + //Map& operator =(const Map& g); + void resize(double xmin, double ymin, double xmax, double ymax); + void grow(double xmin, double ymin, double xmax, double ymax); + inline IntPoint world2map(const Point& p) const; + inline Point map2world(const IntPoint& p) const; + inline IntPoint world2map(double x, double y) const + { return world2map(Point(x,y)); } + inline Point map2world(int x, int y) const + { return map2world(IntPoint(x,y)); } + + inline Point getCenter() const {return m_center;} + inline double getWorldSizeX() const {return m_worldSizeX;} + inline double getWorldSizeY() const {return m_worldSizeY;} + inline int getMapSizeX() const {return m_mapSizeX;} + inline int getMapSizeY() const {return m_mapSizeY;} + inline double getDelta() const { return m_delta;} + inline double getMapResolution() const { return m_delta;} + inline double getResolution() const { return m_delta;} + inline void getSize(double & xmin, double& ymin, double& xmax, double& ymax) const { + Point min=map2world(0,0), max=map2world(IntPoint(m_mapSizeX-1, m_mapSizeY-1)); + xmin=min.x, ymin=min.y, xmax=max.x, ymax=max.y; + } + + inline Cell& cell(int x, int y) { + return cell(IntPoint(x, y)); + } + inline Cell& cell(const IntPoint& p); + + inline const Cell& cell(int x, int y) const { + return cell(IntPoint(x, y)); + } + inline const Cell& cell(const IntPoint& p) const; + + inline Cell& cell(double x, double y) { + return cell(Point(x, y)); + } + inline Cell& cell(const Point& p); + + inline const Cell& cell(double x, double y) const { + return cell(Point(x, y)); + } + + inline bool isInside(int x, int y) const { + return m_storage.cellState(IntPoint(x,y))&Inside; + } + inline bool isInside(const IntPoint& p) const { + return m_storage.cellState(p)&Inside; + } + + inline bool isInside(double x, double y) const { + return m_storage.cellState(world2map(x,y))&Inside; + } + inline bool isInside(const Point& p) const { + return m_storage.cellState(world2map(p))&Inside; + } + + inline const Cell& cell(const Point& p) const; + + inline Storage& storage() { return m_storage; } + inline const Storage& storage() const { return m_storage; } + DoubleArray2D* toDoubleArray() const; + Map* toDoubleMap() const; + + protected: + Point m_center; + double m_worldSizeX, m_worldSizeY, m_delta; + Storage m_storage; + int m_mapSizeX, m_mapSizeY; + int m_sizeX2, m_sizeY2; + static const Cell m_unknown; +}; + +typedef Map DoubleMap; + +template + const Cell Map::m_unknown = Cell(-1); + +template +Map::Map(int mapSizeX, int mapSizeY, double delta): + m_storage(mapSizeX, mapSizeY){ + m_worldSizeX=mapSizeX * delta; + m_worldSizeY=mapSizeY * delta; + m_delta=delta; + m_center=Point(0.5*m_worldSizeX, 0.5*m_worldSizeY); + m_sizeX2=m_mapSizeX>>1; + m_sizeY2=m_mapSizeY>>1; +} + +template +Map::Map(const Point& center, double worldSizeX, double worldSizeY, double delta): + m_storage((int)ceil(worldSizeX/delta), (int)ceil(worldSizeY/delta)){ + m_center=center; + m_worldSizeX=worldSizeX; + m_worldSizeY=worldSizeY; + m_delta=delta; + m_mapSizeX=m_storage.getXSize()<>1; + m_sizeY2=m_mapSizeY>>1; +} + +template +Map::Map(const Point& center, double xmin, double ymin, double xmax, double ymax, double delta): + m_storage((int)ceil((xmax-xmin)/delta), (int)ceil((ymax-ymin)/delta)){ + m_center=center; + m_worldSizeX=xmax-xmin; + m_worldSizeY=ymax-ymin; + m_delta=delta; + m_mapSizeX=m_storage.getXSize()< +void Map::resize(double xmin, double ymin, double xmax, double ymax){ + IntPoint imin=world2map(xmin, ymin); + IntPoint imax=world2map(xmax, ymax); + int pxmin, pymin, pxmax, pymax; + pxmin=(int)floor((float)imin.x/(1< +void Map::grow(double xmin, double ymin, double xmax, double ymax){ + IntPoint imin=world2map(xmin, ymin); + IntPoint imax=world2map(xmax, ymax); + if (isInside(imin) && isInside(imax)) + return; + imin=min(imin, IntPoint(0,0)); + imax=max(imax, IntPoint(m_mapSizeX-1,m_mapSizeY-1)); + int pxmin, pymin, pxmax, pymax; + pxmin=(int)floor((float)imin.x/(1< +IntPoint Map::world2map(const Point& p) const{ + return IntPoint( (int)round((p.x-m_center.x)/m_delta)+m_sizeX2, (int)round((p.y-m_center.y)/m_delta)+m_sizeY2); +} + +template +Point Map::map2world(const IntPoint& p) const{ + return Point( (p.x-m_sizeX2)*m_delta, + (p.y-m_sizeY2)*m_delta)+m_center; +} + + +template +Cell& Map::cell(const IntPoint& p) { + AccessibilityState s=m_storage.cellState(p); + if (! s&Inside) + assert(0); + //if (s&Allocated) return m_storage.cell(p); assert(0); + + // this will never happend. Just to satify the compiler.. + return m_storage.cell(p); + +} + +template +Cell& Map::cell(const Point& p) { + IntPoint ip=world2map(p); + AccessibilityState s=m_storage.cellState(ip); + if (! s&Inside) + assert(0); + //if (s&Allocated) return m_storage.cell(ip); assert(0); + + // this will never happend. Just to satify the compiler.. + return m_storage.cell(ip); +} + +template + const Cell& Map::cell(const IntPoint& p) const { + AccessibilityState s=m_storage.cellState(p); + //if (! s&Inside) assert(0); + if (s&Allocated) + return m_storage.cell(p); + return m_unknown; +} + +template +const Cell& Map::cell(const Point& p) const { + IntPoint ip=world2map(p); + AccessibilityState s=m_storage.cellState(ip); + //if (! s&Inside) assert(0); + if (s&Allocated) + return m_storage.cell(ip); + return m_unknown; +} + + +//FIXME check why the last line of the map is corrupted. +template +DoubleArray2D* Map::toDoubleArray() const{ + DoubleArray2D* darr=new DoubleArray2D(getMapSizeX()-1, getMapSizeY()-1); + for(int x=0; xcell(p)=cell(p); + } + return darr; +} + + +template +Map* Map::toDoubleMap() const{ +//FIXME size the map so that m_center will be setted accordingly + Point pmin=map2world(IntPoint(0,0)); + Point pmax=map2world(getMapSizeX()-1,getMapSizeY()-1); + Point center=(pmax+pmin)*0.5; + Map* plainMap=new Map(center, (pmax-pmin).x, (pmax-pmin).y, getDelta()); + for(int x=0; xcell(p)=cell(p); + } + return plainMap; +} + +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/gridfastslam/gfsreader.h b/src/openslam_gmapping/include/gmapping/gridfastslam/gfsreader.h new file mode 100644 index 0000000..18ab997 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gridfastslam/gfsreader.h @@ -0,0 +1,102 @@ +#ifndef GFSREADER_H +#define GFSREADER_H + +#include +#include +#include +#include +#include +#include +#include + +#define MAX_LINE_LENGHT (1000000) + +namespace GMapping{ + +namespace GFSReader{ + +using namespace std; + +struct GRIDFASTSLAM_EXPORT Record{ + unsigned int dim; + double time; + virtual ~Record(); + virtual void read(istream& is)=0; + virtual void write(ostream& os); +}; + +struct GRIDFASTSLAM_EXPORT CommentRecord: public Record{ + string text; + virtual void read(istream& is); + virtual void write(ostream& os); +}; + +struct GRIDFASTSLAM_EXPORT PoseRecord: public Record{ + PoseRecord(bool ideal=false); + void read(istream& is); + virtual void write(ostream& os); + bool truePos; + OrientedPoint pose; +}; + +struct GRIDFASTSLAM_EXPORT NeffRecord: public Record{ + void read(istream& is); + virtual void write(ostream& os); + double neff; +}; + +struct GRIDFASTSLAM_EXPORT EntropyRecord: public Record{ + void read(istream& is); + virtual void write(ostream& os); + double poseEntropy; + double trajectoryEntropy; + double mapEntropy; +}; + + +struct GRIDFASTSLAM_EXPORT OdometryRecord: public Record{ + virtual void read(istream& is); + vector poses; +}; + +struct GRIDFASTSLAM_EXPORT RawOdometryRecord: public Record{ + virtual void read(istream& is); + OrientedPoint pose; +}; + +struct GRIDFASTSLAM_EXPORT ScanMatchRecord: public Record{ + virtual void read(istream& is); + vector poses; + vector weights; +}; + +struct GRIDFASTSLAM_EXPORT LaserRecord: public Record{ + virtual void read(istream& is); + virtual void write(ostream& os); + vector readings; + OrientedPoint pose; + double weight; +}; + +struct GRIDFASTSLAM_EXPORT ResampleRecord: public Record{ + virtual void read(istream& is); + vector indexes; +}; + +struct GRIDFASTSLAM_EXPORT RecordList: public list{ + mutable int sampleSize; + istream& read(istream& is); + double getLogWeight(unsigned int i) const; + double getLogWeight(unsigned int i, RecordList::const_iterator frame) const; + unsigned int getBestIdx() const ; + void printLastParticles(ostream& os) const ; + void printPath(ostream& os, unsigned int i, bool err=false, bool rawodom=false) const; + RecordList computePath(unsigned int i, RecordList::const_iterator frame) const; + void destroyReferences(); +}; + +}; //end namespace GFSReader + +}; //end namespace GMapping + +#endif diff --git a/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h b/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h new file mode 100644 index 0000000..6595b51 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h @@ -0,0 +1,338 @@ +#ifndef GRIDSLAMPROCESSOR_H +#define GRIDSLAMPROCESSOR_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "gmapping/gridfastslam/motionmodel.h" +#include + + +namespace GMapping { + + /**This class defines the basic GridFastSLAM algorithm. It + implements a rao blackwellized particle filter. Each particle + has its own map and robot pose.
This implementation works + as follows: each time a new pair odometry/laser reading is + received, the particle's robot pose is updated according to the + motion model. This pose is subsequently used for initalizing a + scan matching algorithm. The scanmatcher performs a local + optimization for each particle. It is initialized with the + pose drawn from the motion model, and the pose is corrected + according to the each particle map.
+ In order to avoid unnecessary computation the filter state is updated + only when the robot moves more than a given threshold. + */ + class GRIDFASTSLAM_EXPORT GridSlamProcessor{ + public: + + + /**This class defines the the node of reversed tree in which the trajectories are stored. + Each node of a tree has a pointer to its parent and a counter indicating the number of childs of a node. + The tree is updated in a way consistent with the operation performed on the particles. + */ + struct TNode{ + /**Constructs a node of the trajectory tree. + @param pose: the pose of the robot in the trajectory + @param weight: the weight of the particle at that point in the trajectory + @param accWeight: the cumulative weight of the particle + @param parent: the parent node in the tree + @param childs: the number of childs + */ + TNode(const OrientedPoint& pose, double weight, TNode* parent=0, unsigned int childs=0); + + /**Destroys a tree node, and consistently updates the tree. If a node whose parent has only one child is deleted, + also the parent node is deleted. This because the parent will not be reacheable anymore in the trajectory tree.*/ + ~TNode(); + + /**The pose of the robot*/ + OrientedPoint pose; + + /**The weight of the particle*/ + double weight; + + /**The sum of all the particle weights in the previous part of the trajectory*/ + double accWeight; + + double gweight; + + + /**The parent*/ + TNode* parent; + + /**The range reading to which this node is associated*/ + const RangeReading* reading; + + /**The number of childs*/ + unsigned int childs; + + /**counter in visiting the node (internally used)*/ + mutable unsigned int visitCounter; + + /**visit flag (internally used)*/ + mutable bool flag; + }; + + typedef std::vector TNodeVector; + typedef std::deque TNodeDeque; + + /**This class defines a particle of the filter. Each particle has a map, a pose, a weight and retains the current node in the trajectory tree*/ + struct Particle{ + /**constructs a particle, given a map + @param map: the particle map + */ + Particle(const ScanMatcherMap& map); + + /** @returns the weight of a particle */ + inline operator double() const {return weight;} + /** @returns the pose of a particle */ + inline operator OrientedPoint() const {return pose;} + /** sets the weight of a particle + @param w the weight + */ + inline void setWeight(double w) {weight=w;} + /** The map */ + ScanMatcherMap map; + /** The pose of the robot */ + OrientedPoint pose; + + /** The pose of the robot at the previous time frame (used for computing thr odometry displacements) */ + OrientedPoint previousPose; + + /** The weight of the particle */ + double weight; + + /** The cumulative weight of the particle */ + double weightSum; + + double gweight; + + /** The index of the previous particle in the trajectory tree */ + int previousIndex; + + /** Entry to the trajectory tree */ + TNode* node; + }; + + + typedef std::vector ParticleVector; + + /** Constructs a GridSlamProcessor, initialized with the default parameters */ + GridSlamProcessor(); + + /** Constructs a GridSlamProcessor, whose output is routed to a stream. + @param infoStr: the output stream + */ + GridSlamProcessor(std::ostream& infoStr); + + /** @returns a deep copy of the grid slam processor with all the internal structures. + */ + GridSlamProcessor* clone() const; + + /**Deleted the gridslamprocessor*/ + virtual ~GridSlamProcessor(); + + //methods for accessing the parameters + void setSensorMap(const SensorMap& smap); + void init(unsigned int size, double xmin, double ymin, double xmax, double ymax, double delta, + OrientedPoint initialPose=OrientedPoint(0,0,0)); + void setMatchingParameters(double urange, double range, double sigma, int kernsize, double lopt, double aopt, + int iterations, double likelihoodSigma=1, double likelihoodGain=1, unsigned int likelihoodSkip=0); + void setMotionModelParameters(double srr, double srt, double str, double stt); + void setUpdateDistances(double linear, double angular, double resampleThreshold); + void setUpdatePeriod(double p) {period_=p;} + + //the "core" algorithm + void processTruePos(const OdometryReading& odometry); + bool processScan(const RangeReading & reading, int adaptParticles=0); + + /**This method copies the state of the filter in a tree. + The tree is represented through reversed pointers (each node has a pointer to its parent). + The leafs are stored in a vector, whose size is the same as the number of particles. + @returns the leafs of the tree + */ + TNodeVector getTrajectories() const; + void integrateScanSequence(TNode* node); + + /**the scanmatcher algorithm*/ + ScanMatcher m_matcher; + /**the stream used for writing the output of the algorithm*/ + std::ofstream& outputStream(); + /**the stream used for writing the info/debug messages*/ + std::ostream& infoStream(); + /**@returns the particles*/ + inline const ParticleVector& getParticles() const {return m_particles; } + + inline const std::vector& getIndexes() const{return m_indexes; } + int getBestParticleIndex() const; + //callbacks + virtual void onOdometryUpdate(); + virtual void onResampleUpdate(); + virtual void onScanmatchUpdate(); + + //accessor methods + /**the maxrange of the laser to consider */ + MEMBER_PARAM_SET_GET(m_matcher, double, laserMaxRange, protected, public, public); + + /**the maximum usable range of the laser. A beam is cropped to this value. [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, usableRange, protected, public, public); + + /**The sigma used by the greedy endpoint matching. [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher,double, gaussianSigma, protected, public, public); + + /**The sigma of a beam used for likelihood computation [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher,double, likelihoodSigma, protected, public, public); + + /**The kernel in which to look for a correspondence[scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, int, kernelSize, protected, public, public); + + /**The optimization step in rotation [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, optAngularDelta, protected, public, public); + + /**The optimization step in translation [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, optLinearDelta, protected, public, public); + + /**The number of iterations of the scanmatcher [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, unsigned int, optRecursiveIterations, protected, public, public); + + /**the beams to skip for computing the likelihood (consider a beam every likelihoodSkip) [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, unsigned int, likelihoodSkip, protected, public, public); + + /**translational sampling range for the likelihood [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, llsamplerange, protected, public, public); + + /**angular sampling range for the likelihood [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, lasamplerange, protected, public, public); + + /**translational sampling range for the likelihood [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, llsamplestep, protected, public, public); + + /**angular sampling step for the likelihood [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, double, lasamplestep, protected, public, public); + + /**generate an accupancy grid map [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, bool, generateMap, protected, public, public); + + /**enlarge the map when the robot goes out of the boundaries [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, bool, enlargeStep, protected, public, public); + + /**pose of the laser wrt the robot [scanmatcher]*/ + MEMBER_PARAM_SET_GET(m_matcher, OrientedPoint, laserPose, protected, public, public); + + + /**odometry error in translation as a function of translation (rho/rho) [motionmodel]*/ + STRUCT_PARAM_SET_GET(m_motionModel, double, srr, protected, public, public); + + /**odometry error in translation as a function of rotation (rho/theta) [motionmodel]*/ + STRUCT_PARAM_SET_GET(m_motionModel, double, srt, protected, public, public); + + /**odometry error in rotation as a function of translation (theta/rho) [motionmodel]*/ + STRUCT_PARAM_SET_GET(m_motionModel, double, str, protected, public, public); + + /**odometry error in rotation as a function of rotation (theta/theta) [motionmodel]*/ + STRUCT_PARAM_SET_GET(m_motionModel, double, stt, protected, public, public); + + /**minimum score for considering the outcome of the scanmatching good*/ + PARAM_SET_GET(double, minimumScore, protected, public, public); + + protected: + /**Copy constructor*/ + GridSlamProcessor(const GridSlamProcessor& gsp); + + /**the laser beams*/ + unsigned int m_beams; + double last_update_time_; + double period_; + + /**the particles*/ + ParticleVector m_particles; + + /**the particle indexes after resampling (internally used)*/ + std::vector m_indexes; + + /**the particle weights (internally used)*/ + std::vector m_weights; + + /**the motion model*/ + MotionModel m_motionModel; + + /**this sets the neff based resampling threshold*/ + PARAM_SET_GET(double, resampleThreshold, protected, public, public); + + //state + int m_count, m_readingCount; + OrientedPoint m_lastPartPose; + OrientedPoint m_odoPose; + OrientedPoint m_pose; + double m_linearDistance, m_angularDistance; + PARAM_GET(double, neff, protected, public); + + //processing parameters (size of the map) + PARAM_GET(double, xmin, protected, public); + PARAM_GET(double, ymin, protected, public); + PARAM_GET(double, xmax, protected, public); + PARAM_GET(double, ymax, protected, public); + //processing parameters (resolution of the map) + PARAM_GET(double, delta, protected, public); + + //registration score (if a scan score is above this threshold it is registered in the map) + PARAM_SET_GET(double, regScore, protected, public, public); + //registration score (if a scan score is below this threshold a scan matching failure is reported) + PARAM_SET_GET(double, critScore, protected, public, public); + //registration score maximum move allowed between consecutive scans + PARAM_SET_GET(double, maxMove, protected, public, public); + + //process a scan each time the robot translates of linearThresholdDistance + PARAM_SET_GET(double, linearThresholdDistance, protected, public, public); + + //process a scan each time the robot rotates more than angularThresholdDistance + PARAM_SET_GET(double, angularThresholdDistance, protected, public, public); + + //smoothing factor for the likelihood + PARAM_SET_GET(double, obsSigmaGain, protected, public, public); + + //stream in which to write the gfs file + std::ofstream m_outputStream; + + // stream in which to write the messages + std::ostream& m_infoStream; + + + // the functions below performs side effect on the internal structure, + //should be called only inside the processScan method + private: + + /**scanmatches all the particles*/ + inline void scanMatch(const double *plainReading); + /**normalizes the particle weights*/ + inline void normalize(); + + // return if a resampling occured or not + inline bool resample(const double* plainReading, int adaptParticles, + const RangeReading* rr=0); + + //tree utilities + + void updateTreeWeights(bool weightsAlreadyNormalized = false); + void resetTree(); + double propagateWeights(); + + }; + +typedef std::multimap TNodeMultimap; + + +#include "gmapping/gridfastslam/gridslamprocessor.hxx" + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.hxx b/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.hxx new file mode 100644 index 0000000..8a8b7a4 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.hxx @@ -0,0 +1,177 @@ + +#ifdef MACOSX +// This is to overcome a possible bug in Apple's GCC. +#define isnan(x) (x==FP_NAN) +#endif + +/**Just scan match every single particle. +If the scan matching fails, the particle gets a default likelihood.*/ +inline void GridSlamProcessor::scanMatch(const double* plainReading){ + // sample a new pose from each scan in the reference + + double sumScore=0; + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + OrientedPoint corrected; + double score, l, s; + score=m_matcher.optimize(corrected, it->map, it->pose, plainReading); + // it->pose=corrected; + if (score>m_minimumScore){ + it->pose=corrected; + } else { + if (m_infoStream){ + m_infoStream << "Scan Matching Failed, using odometry. Likelihood=" << l <map, it->pose, plainReading); + sumScore+=score; + it->weight+=l; + it->weightSum+=l; + + //set up the selective copy of the active area + //by detaching the areas that will be updated + m_matcher.invalidateActiveArea(); + m_matcher.computeActiveArea(it->map, it->pose, plainReading); + } + if (m_infoStream) + m_infoStream << "Average Scan Matching Score=" << sumScore/m_particles.size() << std::endl; +} + +inline void GridSlamProcessor::normalize(){ + //normalize the log m_weights + double gain=1./(m_obsSigmaGain*m_particles.size()); + double lmax= -std::numeric_limits::max(); + for (ParticleVector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + lmax=it->weight>lmax?it->weight:lmax; + } + //cout << "!!!!!!!!!!! maxwaight= "<< lmax << endl; + + m_weights.clear(); + double wcum=0; + m_neff=0; + for (std::vector::iterator it=m_particles.begin(); it!=m_particles.end(); it++){ + m_weights.push_back(exp(gain*(it->weight-lmax))); + wcum+=m_weights.back(); + //cout << "l=" << it->weight<< endl; + } + + m_neff=0; + for (std::vector::iterator it=m_weights.begin(); it!=m_weights.end(); it++){ + *it=*it/wcum; + double w=*it; + m_neff+=w*w; + } + m_neff=1./m_neff; + +} + +inline bool GridSlamProcessor::resample(const double* plainReading, int adaptSize, const RangeReading* reading){ + + bool hasResampled = false; + + TNodeVector oldGeneration; + for (unsigned int i=0; i resampler; + m_indexes=resampler.resampleIndexes(m_weights, adaptSize); + + if (m_outputStream.is_open()){ + m_outputStream << "RESAMPLE "<< m_indexes.size() << " "; + for (std::vector::const_iterator it=m_indexes.begin(); it!=m_indexes.end(); it++){ + m_outputStream << *it << " "; + } + m_outputStream << std::endl; + } + + onResampleUpdate(); + //BEGIN: BUILDING TREE + ParticleVector temp; + unsigned int j=0; + std::vector deletedParticles; //this is for deleteing the particles which have been resampled away. + + // cerr << "Existing Nodes:" ; + for (unsigned int i=0; i" << m_indexes[i] << "B("<childs <<") "; + node=new TNode(p.pose, 0, oldNode, 0); + //node->reading=0; + node->reading=reading; + // cerr << "A("<parent->childs <<") " <setWeight(0); + m_matcher.invalidateActiveArea(); + m_matcher.registerScan(it->map, it->pose, plainReading); + m_particles.push_back(*it); + } + std::cerr << " Done" <pose, 0.0, *node_it, 0); + + //node->reading=0; + node->reading=reading; + it->node=node; + + //END: BUILDING TREE + m_matcher.invalidateActiveArea(); + m_matcher.registerScan(it->map, it->pose, plainReading); + it->previousIndex=index; + index++; + node_it++; + + } + std::cerr << "Done" < +#include +#include + +namespace GMapping { + +struct MotionModel{ + OrientedPoint drawFromMotion(const OrientedPoint& p, double linearMove, double angularMove) const; + OrientedPoint drawFromMotion(const OrientedPoint& p, const OrientedPoint& pnew, const OrientedPoint& pold) const; + Covariance3 gaussianApproximation(const OrientedPoint& pnew, const OrientedPoint& pold) const; + double srr, str, srt, stt; +}; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/gui/gsp_thread.h b/src/openslam_gmapping/include/gmapping/gui/gsp_thread.h new file mode 100644 index 0000000..5c64232 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/gsp_thread.h @@ -0,0 +1,178 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef GSP_THREAD_H +#define GSP_THREAD_H + +#ifndef _WIN32 + #include + #include +#endif +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace GMapping; + + +#define MAX_STRING_LENGTH 1024 + + +struct GridSlamProcessorThread : public GridSlamProcessor { + struct Event{ + virtual ~Event(); + }; + + struct ParticleMoveEvent: public Event{ + bool scanmatched; + double neff; + std::vector hypotheses; + std::vector weightSums; + }; + + struct TruePosEvent : public Event{ + OrientedPoint pose; + }; + + struct ResampleEvent: public Event{ + std::vector indexes; + }; + + struct MapEvent: public Event{ + ScanMatcherMap* pmap; + unsigned int index; + OrientedPoint pose; + virtual ~MapEvent(); + }; + + struct DoneEvent: public Event{ + }; + + typedef deque EventDeque; + + GridSlamProcessorThread(); + ~GridSlamProcessorThread(); + int init(int argc, const char * const * argv); + int loadFiles(const char * fn=0); + static void * fastslamthread(GridSlamProcessorThread* gpt); + std::vector getHypotheses(); + std::vector getIndexes(); + + EventDeque getEvents(); + + void start(); + void stop(); + + virtual void onOdometryUpdate(); + virtual void onResampleUpdate(); + virtual void onScanmatchUpdate(); + + virtual void syncOdometryUpdate(); + virtual void syncResampleUpdate(); + virtual void syncScanmatchUpdate(); + + void setEventBufferSize(unsigned int length); + inline void setMapUpdateTime(unsigned int ut) {mapUpdateTime=ut;} + inline bool isRunning() const {return running;} + OrientedPoint boundingBox(SensorLog* log, double& xmin, double& ymin, double& xmax, double& ymax) const; + private: + + void addEvent(Event *); + EventDeque eventBuffer; + + unsigned int eventBufferLength; + unsigned int mapUpdateTime; + unsigned int mapTimer; + + //thread interaction stuff + std::vector hypotheses; + std::vector indexes; + std::vector weightSums; + pthread_mutex_t hp_mutex, ind_mutex, hist_mutex; + pthread_t gfs_thread; + bool running; + + //This are the processor parameters + std::string filename; + std::string outfilename; + + double xmin; + double ymin; + double xmax; + double ymax; + bool autosize; + double delta; + double resampleThreshold; + + //scan matching parameters + double sigma; + double maxrange; + double maxUrange; + double regscore; + double lstep; + double astep; + int kernelSize; + int iterations; + double critscore; + double maxMove; + unsigned int lskip; + + //likelihood + double lsigma; + double ogain; + double llsamplerange, lasamplerange; + double llsamplestep, lasamplestep; + double linearOdometryReliability; + double angularOdometryReliability; + + + //motion model parameters + double srr, srt, str, stt; + //particle parameters + int particles; + bool skipMatching; + + //gfs parameters + double angularUpdate; + double linearUpdate; + + //robot config + SensorMap sensorMap; + //input stream + InputSensorStream* input; + std::ifstream plainStream; + bool readFromStdin; + bool onLine; + bool generateMap; + bool considerOdometryCovariance; + unsigned int randseed; + + //dirty carmen interface + const char* const * m_argv; + unsigned int m_argc; + +}; +#endif diff --git a/src/openslam_gmapping/include/gmapping/gui/qgraphpainter.h b/src/openslam_gmapping/include/gmapping/gui/qgraphpainter.h new file mode 100644 index 0000000..071ee0f --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qgraphpainter.h @@ -0,0 +1,66 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef QGRAPHPAINTER_H +#define QGRAPHPAINTER_H + +#include +#include +#include +#include +#include +#include +#include + +typedef std::deque DoubleDeque; + +class QGraphPainter : public QWidget{ + Q_OBJECT + public: + QGraphPainter( QWidget * parent = 0, const char * name = 0, WFlags f = 0); + virtual ~QGraphPainter(); + public slots: + void clear(); + void valueAdded(double); + void valueAdded(double, double, double); + void setYReference(double y); + void disableYReference(); + void setRange(double min, double max); + void start(int period); + void setTitle(const char* title); + void setAutoscale(bool a); + bool getAutoscale() const; + protected: + virtual void timerEvent(QTimerEvent * te); + virtual void resizeEvent(QResizeEvent *); + double min, max, reference; + DoubleDeque values; + bool autoscale; + bool m_useYReference; + int timer; + virtual void paintEvent ( QPaintEvent *paintevent ); + QPixmap * m_pixmap; + QString title; +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/gui/qmappainter.h b/src/openslam_gmapping/include/gmapping/gui/qmappainter.h new file mode 100644 index 0000000..0606c2b --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qmappainter.h @@ -0,0 +1,60 @@ +#ifndef QMAPPAINTER_H +#define QMAPPAINTER_H + +#include +#include +#include +#include +#include +#include + +class QMapPainter : public QWidget{ + public: + QMapPainter( QWidget * parent = 0, const char * name = 0, WFlags f = 0); + virtual ~QMapPainter(); + public: + template < typename Cell > + void setPixmap(unsigned int xsize, unsigned int ysize, Cell** values); + template < typename Iterator > + void drawPoints(const Iterator& begin, const Iterator& end, unsigned char r, unsigned char g, unsigned char b); + void start(int period); + protected: + virtual void timerEvent(QTimerEvent * te); + virtual void resizeEvent(QResizeEvent *); + int timer; + virtual void paintEvent ( QPaintEvent *paintevent ); + QPixmap * m_pixmap; +}; + +template +void QMapPainter::setPixmap(unsigned int xsize, unsigned int ysize, Cell** values){ + QSize s(xsize, ysize); + m_pixmap->resize(s); + m_pixmap->fill(Qt::white); + QPainter painter(m_pixmap); + for (unsigned int x=0; x<(unsigned int)xsize; x++) + for (unsigned int y=0; y<(unsigned int)ysize; y++){ + double v=(double) values[x][y]; + + if (v>=0){ + unsigned int grayVal=(unsigned char) (255-(unsigned char)(255*v)); + painter.setPen(QColor(grayVal, grayVal, grayVal)); + } else { + painter.setPen(QColor(255, 100, 100)); + } + painter.drawPoint(x,ysize-y); + } +} + +template < typename Iterator > +void QMapPainter::drawPoints(const Iterator& begin, const Iterator& end, unsigned char r, unsigned char g, unsigned char b){ + QPainter painter(m_pixmap); + painter.setPen(QColor(r,g,b)); + for (Iterator it=begin; it!=end; it++){ + GMapping::IntPoint p=(GMapping::IntPoint)*it; + painter.drawPoint(p.x, height()-p.y); + } +} + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/gui/qnavigatorwidget.h b/src/openslam_gmapping/include/gmapping/gui/qnavigatorwidget.h new file mode 100644 index 0000000..19757fe --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qnavigatorwidget.h @@ -0,0 +1,35 @@ +#ifndef _QNAVIGATOR_WIDGET_H +#define _QNAVIGATOR_WIDGET_H + +#include "gmapping/gui/qmappainter.h" +#include "gmapping/gui/qpixmapdumper.h" +#include +#include + +class QNavigatorWidget : public QMapPainter{ + public: + QNavigatorWidget( QWidget * parent = 0, const char * name = 0, WFlags f = 0); + virtual ~QNavigatorWidget(); + std::list trajectoryPoints; + bool repositionRobot; + GMapping::IntPoint robotPose; + double robotHeading; + bool confirmLocalization; + bool enableMotion; + bool startWalker; + bool startGlobalLocalization; + bool trajectorySent; + bool goHome; + bool wantsQuit; + bool writeImages; + QPixmapDumper dumper; + bool drawRobot; + + protected: + virtual void paintEvent ( QPaintEvent *paintevent ); + virtual void mousePressEvent ( QMouseEvent * e ); + virtual void keyPressEvent ( QKeyEvent * e ); +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/gui/qparticleviewer.h b/src/openslam_gmapping/include/gmapping/gui/qparticleviewer.h new file mode 100644 index 0000000..9e0c689 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qparticleviewer.h @@ -0,0 +1,159 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef QPARTICLEVIEWER_H +#define QPARTICLEVIEWER_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "gmapping/gui/gsp_thread.h" + +namespace GMapping { + +class QParticleViewer : public QWidget{ + Q_OBJECT + public: + struct StartParameters{ + //motionmodel + double srr, srt, str, stt; + //map + double xmin, ymin, xmax, ymax, delta; + OrientedPoint initialPose; + //likelihood + double lsigma, lgain; + unsigned int lskip; + //update + double linearUpdate, angularUpdate; + //filter + unsigned int particles; + double resampleThreshold; + //mode + bool drawFromObservation; + //output + const char * outFileName; + }; + + struct MatchingParameters{ + //ranges + double maxrange, urange; + //score + double ssigma, sreg, scrit; + unsigned int ksize; + //search + double lstep, astep; + unsigned int iterations; + }; + + void refreshParameters(); //reads the parameters from the thread + inline void setGSP( GridSlamProcessorThread* thread){gfs_thread=thread;} + + + typedef std::vector OrientedPointVector; + QParticleViewer( QWidget * parent = 0, const char * name = 0, WFlags f = 0, GridSlamProcessorThread* thread=0 ); + virtual ~QParticleViewer(); + virtual void timerEvent(QTimerEvent * te); + virtual void resizeEvent(QResizeEvent *); + + void drawFromFile(); + void drawFromMemory(); + void drawMap(const ScanMatcherMap& map); + void start(int period); + QTextIStream* tis; + + MatchingParameters matchingParameters; + StartParameters startParameters; + + int writeToFile; + public slots: + void setMatchingParameters(const MatchingParameters& mp); + void setStartParameters(const StartParameters& mp); + void start(); + void stop(); + void loadFile(const char *); + signals: + void neffChanged(double); + void poseEntropyChanged(double, double, double); + void trajectoryEntropyChanged(double, double, double); + void mapsEntropyChanged(double); + void mapsIGainChanged(double); + + protected: + ifstream inputStream; + ofstream outputStream; + + + protected: + inline Point pic2map(const IntPoint& p) + {return viewCenter+Point(p.x/mapscale, -p.y/mapscale); } + inline IntPoint map2pic(const Point& p) + {return IntPoint((int)((p.x-viewCenter.x)*mapscale),(int)((viewCenter.y-p.y)*mapscale)); } + + int timer; + virtual void paintEvent ( QPaintEvent *paintevent ); + void drawParticleMove(const OrientedPointVector& start, const OrientedPointVector& end); + QPixmap* m_pixmap; + + //thread interaction + GridSlamProcessorThread* gfs_thread; + GridSlamProcessorThread::EventDeque history; + + //mouse movement + virtual void mousePressEvent(QMouseEvent*); + virtual void mouseReleaseEvent(QMouseEvent*); + virtual void mouseMoveEvent(QMouseEvent*); + QPoint draggingPos; + bool dragging; + + //particle plotting + virtual void keyPressEvent ( QKeyEvent* e ); + + //map painting + double mapscale; + Point viewCenter; + Point bestParticlePose; + ScanMatcherMap * bestMap; + + // view mode + bool showPaths; + bool showBestPath; + + // file plotting + QParticleViewer::OrientedPointVector m_oldPose, m_newPose; + unsigned int m_particleSize; + bool m_refresh; + int count; +}; + +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/gui/qpixmapdumper.h b/src/openslam_gmapping/include/gmapping/gui/qpixmapdumper.h new file mode 100644 index 0000000..7193d12 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qpixmapdumper.h @@ -0,0 +1,19 @@ +#ifndef _QPIXMAPDUMPER_H_ +#define _QPIXMAPDUMPER_H_ +#include +#include +#include + + +struct QPixmapDumper{ + QPixmapDumper(std::string prefix, int cycles); + void reset(); + std::string prefix; + std::string format; + bool dump(const QPixmap& pixmap); + int counter; + int cycles; + int frame; +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/gui/qslamandnavwidget.h b/src/openslam_gmapping/include/gmapping/gui/qslamandnavwidget.h new file mode 100644 index 0000000..e42ed55 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/gui/qslamandnavwidget.h @@ -0,0 +1,38 @@ +#ifndef _QSLAMANDNAV_WIDGET_H +#define _QSLAMANDNAV_WIDGET_H + +#include "gmapping/gui/qmappainter.h" +#include "gmapping/gui/qpixmapdumper.h" +#include +#include + +class QSLAMandNavWidget : public QMapPainter{ + public: + QSLAMandNavWidget( QWidget * parent = 0, const char * name = 0, WFlags f = 0); + virtual ~QSLAMandNavWidget(); + std::list trajectoryPoints; + GMapping::IntPoint robotPose; + double robotHeading; + + bool slamRestart; + bool slamFinished; + bool enableMotion; + bool startWalker; + bool trajectorySent; + bool goHome; + bool wantsQuit; + bool printHelp; + bool saveGoalPoints; + bool writeImages; + bool drawRobot; + QPixmapDumper dumper; + + + protected: + virtual void paintEvent ( QPaintEvent *paintevent ); + virtual void mousePressEvent ( QMouseEvent * e ); + virtual void keyPressEvent ( QKeyEvent * e ); +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/log/carmenconfiguration.h b/src/openslam_gmapping/include/gmapping/log/carmenconfiguration.h new file mode 100644 index 0000000..4eace72 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/log/carmenconfiguration.h @@ -0,0 +1,23 @@ +#ifndef CARMENCONFIGURATION_H +#define CARMENCONFIGURATION_H + +#include +#include +#include +#include +#include +#include "gmapping/log/configuration.h" +#include + +namespace GMapping { + +class LOG_EXPORT CarmenConfiguration: public Configuration, public std::map >{ + public: + virtual std::istream& load(std::istream& is); + virtual SensorMap computeSensorMap() const; +}; + +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/log/configuration.h b/src/openslam_gmapping/include/gmapping/log/configuration.h new file mode 100644 index 0000000..0c74444 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/log/configuration.h @@ -0,0 +1,18 @@ +#ifndef CONFIGURATION_H +#define CONFIGURATION_H + +#include +#include +#include + +namespace GMapping { + +class LOG_EXPORT Configuration{ + public: + virtual ~Configuration(); + virtual SensorMap computeSensorMap() const=0; +}; + +}; +#endif + diff --git a/src/openslam_gmapping/include/gmapping/log/sensorlog.h b/src/openslam_gmapping/include/gmapping/log/sensorlog.h new file mode 100644 index 0000000..ec3bf16 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/log/sensorlog.h @@ -0,0 +1,30 @@ +#ifndef SENSORLOG_H +#define SENSORLOG_H + +#include +#include +#include +#include +#include +#include +#include +#include "gmapping/log/configuration.h" +#include + +namespace GMapping { + +class LOG_EXPORT SensorLog : public std::list{ + public: + SensorLog(const SensorMap&); + ~SensorLog(); + std::istream& load(std::istream& is); + OrientedPoint boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const; + protected: + const SensorMap& m_sensorMap; + OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* ) const; + RangeReading* parseRange(std::istream& is, const RangeSensor* ) const; +}; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/log/sensorstream.h b/src/openslam_gmapping/include/gmapping/log/sensorstream.h new file mode 100644 index 0000000..227c28f --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/log/sensorstream.h @@ -0,0 +1,48 @@ +#ifndef SENSORSTREAM_H +#define SENSORSTREAM_H + +#include +#include "gmapping/log/sensorlog.h" +#include + +namespace GMapping { +class LOG_EXPORT SensorStream{ + public: + SensorStream(const SensorMap& sensorMap); + virtual ~SensorStream(); + virtual operator bool() const=0; + virtual bool rewind() = 0 ; + virtual SensorStream& operator >>(const SensorReading*&) = 0; + inline const SensorMap& getSensorMap() const {return m_sensorMap; } + protected: + const SensorMap& m_sensorMap; + static SensorReading* parseReading(std::istream& is, const SensorMap& smap); + static OdometryReading* parseOdometry(std::istream& is, const OdometrySensor* ); + static RangeReading* parseRange(std::istream& is, const RangeSensor* ); +}; + +class LOG_EXPORT InputSensorStream: public SensorStream{ + public: + InputSensorStream(const SensorMap& sensorMap, std::istream& is); + virtual operator bool() const; + virtual bool rewind(); + virtual SensorStream& operator >>(const SensorReading*&); + + //virtual SensorStream& operator >>(SensorLog*& log); + protected: + std::istream& m_inputStream; +}; + +class LOG_EXPORT LogSensorStream: public SensorStream{ + public: + LogSensorStream(const SensorMap& sensorMap, const SensorLog* log); + virtual operator bool() const; + virtual bool rewind(); + virtual SensorStream& operator >>(const SensorReading*&); + protected: + const SensorLog* m_log; + SensorLog::const_iterator m_cursor; +}; + +}; +#endif diff --git a/src/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h b/src/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h new file mode 100644 index 0000000..5823525 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h @@ -0,0 +1,329 @@ +#ifndef PARTICLEFILTER_H +#define PARTICLEFILTER_H +#include +#include +#include +#include +#include +#include +#include + + +/** +the particle class has to be convertible into numeric data type; +That means that a particle must define the Numeric conversion operator; + operator Numeric() const. +that returns the weight, and the method + setWeight(Numeric) +that sets the weight. + +*/ + +typedef std::pair UIntPair; + +template +double toNormalForm(OutputIterator& out, const Iterator & begin, const Iterator & end){ + //determine the maximum + //double lmax=-MAXDOUBLE; + double lmax=-DBL_MAX; + for (Iterator it=begin; it!=end; it++){ + lmax=lmax>((double)(*it))? lmax: (double)(*it); + } + //convert to raw form + for (Iterator it=begin; it!=end; it++){ + *out=exp((double)(*it)-lmax); + out++; + } + return lmax; +} + +template +void toLogForm(OutputIterator& out, const Iterator & begin, const Iterator & end, Numeric lmax){ + //determine the maximum + for (Iterator it=begin; it!=end; it++){ + *out=log((Numeric)(*it))-lmax; + out++; + } + return lmax; +} + +template +void resample(std::vector& indexes, const WeightVector& weights, unsigned int nparticles=0){ + double cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it){ + cweight+=(double)*it; + n++; + } + + if (nparticles>0) + n=nparticles; + + //compute the interval + double interval=cweight/n; + + //compute the initial target weight + double target=interval*::drand48(); + //compute the resampled indexes + + cweight=0; + indexes.resize(n); + + n=0; + unsigned int i=0; + for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it, ++i){ + cweight+=(double)* it; + while(cweight>target){ + indexes[n++]=i; + target+=interval; + } + } +} + +template +void repeatIndexes(Vector& dest, const std::vector& indexes, const Vector& particles){ + assert(indexes.size()==particles.size()); + dest.resize(particles.size()); + unsigned int i=0; + for (std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); ++it){ + dest[i]=particles[*it]; + i++; + } +} + + +template +double neff(const Iterator& begin, const Iterator& end){ + double sum=0; + for (Iterator it=begin; it!=end; ++it){ + sum+=*it; + } + double cum=0; + for (Iterator it=begin; it!=end; ++it){ + double w=*it/sum; + cum+=w*w; + } + return 1./cum; +} + +template +void normalize(const Iterator& begin, const Iterator& end){ + double sum=0; + for (Iterator it=begin; it!=end; ++it){ + sum+=*it; + } + for (Iterator it=begin; it!=end; ++it){ + *it=*it/sum; + } +} + +template +void rle(OutputIterator& out, const Iterator & begin, const Iterator & end){ + unsigned int current=0; + unsigned int count=0; + for (Iterator it=begin; it!=end; it++){ + if (it==begin){ + current=*it; + count=1; + continue; + } + if (((uint)*it) ==current) + count++; + if (((uint)*it)!=current){ + *out=std::make_pair(current,count); + out++; + current=*it; + count=1; + } + } + if (count>0) + *out=std::make_pair(current,count); + out++; +} + +//BEGIN legacy +template +struct uniform_resampler{ + std::vector resampleIndexes(const std::vector & particles, int nparticles=0) const; + std::vector resample(const std::vector & particles, int nparticles=0) const; + Numeric neff(const std::vector & particles) const; +}; + +/*Implementation of the above stuff*/ +template +std::vector uniform_resampler:: resampleIndexes(const std::vector& particles, int nparticles) const{ + Numeric cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it){ + cweight+=(Numeric)*it; + n++; + } + + if (nparticles>0) + n=nparticles; + + //compute the interval + Numeric interval=cweight/n; + + //compute the initial target weight + Numeric target=interval*::drand48(); + //compute the resampled indexes + + cweight=0; + std::vector indexes(n); + n=0; + unsigned int i=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it, ++i){ + cweight+=(Numeric)* it; + while(cweight>target){ + indexes[n++]=i; + target+=interval; + } + } + return indexes; +} + +template +std::vector uniform_resampler::resample + (const typename std::vector& particles, int nparticles) const{ + Numeric cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it){ + cweight+=(Numeric)*it; + n++; + } + + if (nparticles>0) + n=nparticles; + + //weight of the particles after resampling + double uw=1./n; + + //compute the interval + Numeric interval=cweight/n; + + //compute the initial target weight + Numeric target=interval*::drand48(); + //compute the resampled indexes + + cweight=0; + std::vector resampled; + n=0; + unsigned int i=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it, ++i){ + cweight+=(Numeric)*it; + while(cweight>target){ + resampled.push_back(*it); + resampled.back().setWeight(uw); + target+=interval; + } + } + return resampled; +} + +template +Numeric uniform_resampler::neff(const std::vector & particles) const{ + double cum=0; + double sum=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it){ + Numeric w=(Numeric)*it; + cum+=w*w; + sum+=w; + } + return sum*sum/cum; +} + + +/* + +The following are patterns for the evolution and the observation classes +The user should implement classes having the specified meaning + +template +struct observer{ + Observation& observation + Numeric observe(const class State&) const; +}; + +template +struct evolver{ + Input& input; + State& evolve(const State& s); +}; +*/ + + +template +struct evolver{ + EvolutionModel evolutionModel; + void evolve(std::vector& particles); + void evolve(std::vector& dest, const std::vector& src); +}; + +template +void evolver::evolve(std::vector& particles){ + for (typename std::vector::iterator it=particles.begin(); it!=particles.end(); ++it){ + *it=evolutionModel.evolve(*it); + } +} + +template +void evolver::evolve(std::vector& dest, const std::vector& src){ + dest.clear(); + for (typename std::vector::const_iterator it=src.begin(); it!=src.end(); ++it) + dest.push_back(evolutionModel.evolve(*it)); +} + + +template +struct auxiliary_evolver{ + EvolutionModel evolutionModel; + QualificationModel qualificationModel; + LikelyhoodModel likelyhoodModel; + void evolve(std::vector& particles); + void evolve(std::vector& dest, const std::vector& src); +}; + +template +void auxiliary_evolver::evolve + (std::vector&particles){ + std::vector observationWeights(particles.size()); + unsigned int i=0; + for (typename std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it, i++){ + observationWeights[i]=likelyhoodModel.likelyhood(qualificationModel.evolve(*it)); + } + uniform_resampler resampler; + std::vector indexes(resampler.resampleIndexes(observationWeights)); + for (typename std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); it++){ + Particle & particle=particles[*it]; + particle=evolutionModel.evolve(particle); + particle.setWeight(likelyhoodModel.likelyhood(particle)/observationWeights[*it]); + } +} + +template +void auxiliary_evolver::evolve + (std::vector& dest, const std::vector& src){ + dest.clear(); + std::vector observationWeights(src.size()); + unsigned int i=0; + for (typename std::vector::const_iterator it=src.begin(); it!=src.end(); ++it, i++){ + observationWeights[i]=likelyhoodModel.likelyhood(qualificationModel.evolve(*it)); + } + uniform_resampler resampler; + std::vector indexes(resampler.resampleIndexes(observationWeights)); + for (typename std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); it++){ + Particle & particle=src[*it]; + dest.push_back(evolutionModel.evolve(particle)); + dest.back().weight*=likelyhoodModel.likelyhood(particle)/observationWeights[*it]; + } +} +//END legacy + +#endif diff --git a/src/openslam_gmapping/include/gmapping/particlefilter/pf.h b/src/openslam_gmapping/include/gmapping/particlefilter/pf.h new file mode 100644 index 0000000..79d6a38 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/particlefilter/pf.h @@ -0,0 +1,175 @@ +#ifndef PARTICLEFILTER_H +#define PARTICLEFILTER_H +#include +#include +#include +#include + + + +/** +the particle class has to be convertible into numeric data type; +That means that a particle must define the Numeric conversion operator; + operator Numeric() const. +that returns the weight, and the method + setWeight(Numeric) +that sets the weight. + +*/ + +typedef std::pair UIntPair; + +template +double toNormalForm(OutputIterator& out, const Iterator & begin, const Iterator & end){ + //determine the maximum + double lmax=-MAXDOUBLE; + for (Iterator it=begin; it!=end; it++){ + lmax=lmax>((double)(*it))? lmax: (double)(*it); + } + //convert to raw form + for (Iterator it=begin; it!=end; it++){ + *out=exp((double)(*it)-lmax); + out++; + } + return lmax; +} + +template +void toLogForm(OutputIterator& out, const Iterator & begin, const Iterator & end, Numeric lmax){ + //determine the maximum + for (Iterator it=begin; it!=end; it++){ + *out=log((Numeric)(*it))-lmax; + out++; + } + return lmax; +} + +template +void resample(std::vector& indexes, const WeightVector& weights, unsigned int nparticles=0){ + double cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it){ + cweight+=(double)*it; + n++; + } + + if (nparticles>0) + n=nparticles; + + //compute the interval + double interval=cweight/n; + + //compute the initial target weight + double target=interval*::drand48(); + //compute the resampled indexes + + cweight=0; + indexes.resize(n); + + n=0; + unsigned int i=0; + for (typename WeightVector::const_iterator it=weights.begin(); it!=weights.end(); ++it, ++i){ + cweight+=(double)* it; + while(cweight>target){ + indexes[n++]=i; + target+=interval; + } + } +} + +template +void normalizeWeights(WeightVector& weights, unsigned int size, double minWeight){ + double wmin=MAXDOUBLE; + double wmax=-MAXDOUBLE; + for (uint i=0; iweights[i]?wmax:weights[i]; + } + double min_normalized_value=log(minWeight); + double max_normalized_value=log(1.); + double dn=max_normalized_value-min_normalized_value; + double dw=wmax-wmin; + if (dw==0) dw=1; + double scale=dn/dw; + double offset=-wmax*scale; + for (uint i=0; i +void repeatIndexes(Vector& dest, const std::vector& indexes, const Vector& particles){ +/*<<<<<<< .mine + assert(indexes.size()==particles.size()); + if (dest.size()!=particles.size()) + dest.resize(particles.size()); +=======*/ + //assert(indexes.size()==particles.size()); //DIEGO non ne vedo il senso, anzi è sbagliata + //dest.resize(particles.size()); // è sbagliato anche questo + dest.resize(indexes.size()); +// >>>>>>> .r2534 + unsigned int i=0; + for (std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); ++it){ + dest[i]=particles[*it]; + i++; + } +} + +template +void repeatIndexes(Vector& dest, const std::vector& indexes2, const Vector& particles, const std::vector& indexes){ + // assert(indexes.size()==indexes2.size()); + dest=particles; + unsigned int i=0; + for (std::vector::const_iterator it=indexes2.begin(); it!=indexes2.end(); ++it){ + dest[indexes[i]]=particles[*it]; + i++; + } +} + + +template +double neff(const Iterator& begin, const Iterator& end){ + double sum=0; + for (Iterator it=begin; it!=end; ++it){ + sum+=*it; + } + double cum=0; + for (Iterator it=begin; it!=end; ++it){ + double w=*it/sum; + cum+=w*w; + } + return 1./cum; +} + + + +template +void rle(OutputIterator& out, const Iterator & begin, const Iterator & end){ + unsigned int current=0; + unsigned int count=0; + for (Iterator it=begin; it!=end; it++){ + if (it==begin){ + current=*it; + count=1; + continue; + } + if (((uint)*it) ==current) + count++; + if (((uint)*it)!=current){ + *out=std::make_pair(current,count); + out++; + current=*it; + count=1; + } + } + if (count>0) + *out=std::make_pair(current,count); + out++; +} + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/scanmatcher/eig3.h b/src/openslam_gmapping/include/gmapping/scanmatcher/eig3.h new file mode 100644 index 0000000..b708cb1 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/scanmatcher/eig3.h @@ -0,0 +1,11 @@ + +/* Eigen-decomposition for symmetric 3x3 real matrices. + Public domain, copied from the public domain Java library JAMA. */ + +#ifndef _eig_h + +/* Symmetric matrix A => eigenvectors in columns of V, corresponding + eigenvalues in d. */ +void eigen_decomposition(double A[3][3], double V[3][3], double d[3]); + +#endif diff --git a/src/openslam_gmapping/include/gmapping/scanmatcher/gridlinetraversal.h b/src/openslam_gmapping/include/gmapping/scanmatcher/gridlinetraversal.h new file mode 100644 index 0000000..2eb34a8 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/scanmatcher/gridlinetraversal.h @@ -0,0 +1,128 @@ +#ifndef GRIDLINETRAVERSAL_H +#define GRIDLINETRAVERSAL_H + +#include +#include + +namespace GMapping { + +typedef struct { + int num_points; + IntPoint* points; +} GridLineTraversalLine; + +struct GridLineTraversal { + inline static void gridLine( IntPoint start, IntPoint end, GridLineTraversalLine *line ) ; + inline static void gridLineCore( IntPoint start, IntPoint end, GridLineTraversalLine *line ) ; + +}; + +void GridLineTraversal::gridLineCore( IntPoint start, IntPoint end, GridLineTraversalLine *line ) +{ + int dx, dy, incr1, incr2, d, x, y, xend, yend, xdirflag, ydirflag; + int cnt = 0; + + dx = abs(end.x-start.x); dy = abs(end.y-start.y); + + if (dy <= dx) { + d = 2*dy - dx; incr1 = 2 * dy; incr2 = 2 * (dy - dx); + if (start.x > end.x) { + x = end.x; y = end.y; + ydirflag = (-1); + xend = start.x; + } else { + x = start.x; y = start.y; + ydirflag = 1; + xend = end.x; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + if (((end.y - start.y) * ydirflag) > 0) { + while (x < xend) { + x++; + if (d <0) { + d+=incr1; + } else { + y++; d+=incr2; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + } + } else { + while (x < xend) { + x++; + if (d <0) { + d+=incr1; + } else { + y--; d+=incr2; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + } + } + } else { + d = 2*dx - dy; + incr1 = 2*dx; incr2 = 2 * (dx - dy); + if (start.y > end.y) { + y = end.y; x = end.x; + yend = start.y; + xdirflag = (-1); + } else { + y = start.y; x = start.x; + yend = end.y; + xdirflag = 1; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + if (((end.x - start.x) * xdirflag) > 0) { + while (y < yend) { + y++; + if (d <0) { + d+=incr1; + } else { + x++; d+=incr2; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + } + } else { + while (y < yend) { + y++; + if (d <0) { + d+=incr1; + } else { + x--; d+=incr2; + } + line->points[cnt].x=x; + line->points[cnt].y=y; + cnt++; + } + } + } + line->num_points = cnt; +} + +void GridLineTraversal::gridLine( IntPoint start, IntPoint end, GridLineTraversalLine *line ) { + int i,j; + int half; + IntPoint v; + gridLineCore( start, end, line ); + if ( start.x!=line->points[0].x || + start.y!=line->points[0].y ) { + half = line->num_points/2; + for (i=0,j=line->num_points - 1;ipoints[i]; + line->points[i] = line->points[j]; + line->points[j] = v; + } + } +} + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/scanmatcher/icp.h b/src/openslam_gmapping/include/gmapping/scanmatcher/icp.h new file mode 100644 index 0000000..64c257c --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/scanmatcher/icp.h @@ -0,0 +1,85 @@ +#ifndef _ICP_H_ +#define _ICP_H_ + +#include +#include +#include +#include + +namespace GMapping{ +typedef std::pair PointPair; + +template +double icpStep(OrientedPoint & retval, const PointPairContainer& container){ + typedef typename PointPairContainer::const_iterator ContainerIterator; + PointPair mean=std::make_pair(Point(0.,0.), Point(0.,0.)); + int size=0; + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + mean.first=mean.first+it->first; + mean.second=mean.second+it->second; + size++; + } + mean.first=mean.first*(1./size); + mean.second=mean.second*(1./size); + double sxx=0, sxy=0, syx=0, syy=0; + + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + PointPair mf=std::make_pair(it->first-mean.first, it->second-mean.second); + sxx+=mf.first.x*mf.second.x; + sxy+=mf.first.x*mf.second.y; + syx+=mf.first.y*mf.second.x; + syy+=mf.first.y*mf.second.y; + } + retval.theta=atan2(sxy-syx, sxx+sxy); + double s=sin(retval.theta), c=cos(retval.theta); + retval.x=mean.second.x-(c*mean.first.x-s*mean.first.y); + retval.y=mean.second.y-(s*mean.first.x+c*mean.first.y); + + double error=0; + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + Point delta( + c*it->first.x-s*it->first.y+retval.x-it->second.x, s*it->first.x+c*it->first.y+retval.y-it->second.y); + error+=delta*delta; + } + return error; +} + +template +double icpNonlinearStep(OrientedPoint & retval, const PointPairContainer& container){ + typedef typename PointPairContainer::const_iterator ContainerIterator; + PointPair mean=std::make_pair(Point(0.,0.), Point(0.,0.)); + int size=0; + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + mean.first=mean.first+it->first; + mean.second=mean.second+it->second; + size++; + } + + mean.first=mean.first*(1./size); + mean.second=mean.second*(1./size); + + double ms=0,mc=0; + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + PointPair mf=std::make_pair(it->first-mean.first, it->second-mean.second); + double dalpha=atan2(mf.second.y, mf.second.x) - atan2(mf.first.y, mf.first.x); + double gain=sqrt(mean.first*mean.first); + ms+=gain*sin(dalpha); + mc+=gain*cos(dalpha); + } + retval.theta=atan2(ms, mc); + double s=sin(retval.theta), c=cos(retval.theta); + retval.x=mean.second.x-(c*mean.first.x-s*mean.first.y); + retval.y=mean.second.y-(s*mean.first.x+c*mean.first.y); + + double error=0; + for (ContainerIterator it=container.begin(); it!=container.end(); it++){ + Point delta( + c*it->first.x-s*it->first.y+retval.x-it->second.x, s*it->first.x+c*it->first.y+retval.y-it->second.y); + error+=delta*delta; + } + return error; +} + +}//end namespace + +#endif diff --git a/src/openslam_gmapping/include/gmapping/scanmatcher/lumiles.h b/src/openslam_gmapping/include/gmapping/scanmatcher/lumiles.h new file mode 100644 index 0000000..151dd81 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/scanmatcher/lumiles.h @@ -0,0 +1,50 @@ +#ifndef LUMILESPROCESSOR +#define LUMILESPROCESSOR + +namespace GMapping{ + +class LuMilesProcessor{ + typedef std:vector PointVector; + static OrientedPoint step(const PointVector& src, const PointVector& dest); +}; + +OrientedPoint LuMilesProcessors::step(const PointVector& src, const PointVector& dest){ + assert(src.size()==dest.size()); + unsigned int size=dest.size(); + double smx=0, smy=0, dmx=0, dmy=0; + for (PointVector::const_iterator it=src.begin(); it!=src.end(); it++){ + smx+=it->x; + smy+=it->y; + } + smx/=src.size(); + smy/=src.size(); + + for (PointVector::const_iterator it=dest.begin(); it!=dest.end(); it++){ + dmx+=it->x; + dmy+=it->y; + } + dmx/=src.size(); + dmy/=src.size(); + + double sxx=0, sxy=0; + double syx=0, syy=0; + for (unsigned int i=0; i +#include +#include +#include +#include +#define LASER_MAXBEAMS 2048 + +namespace GMapping { + +class SCANMATCHER_EXPORT ScanMatcher{ + public: + typedef Covariance3 CovarianceMatrix; + + ScanMatcher(); + ~ScanMatcher(); + double icpOptimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + double optimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + double optimize(OrientedPoint& mean, CovarianceMatrix& cov, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + + double registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings); + void setLaserParameters + (unsigned int beams, double* angles, const OrientedPoint& lpose); + void setMatchingParameters + (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, unsigned int likelihoodSkip=0 ); + void invalidateActiveArea(); + void computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings); + + inline double icpStep(OrientedPoint & pret, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + inline double score(const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + inline unsigned int likelihoodAndScore(double& s, double& l, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const; + double likelihood(double& lmax, OrientedPoint& mean, CovarianceMatrix& cov, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings); + double likelihood(double& _lmax, OrientedPoint& _mean, CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& p, Gaussian3& odometry, const double* readings, double gain=180.); + inline const double* laserAngles() const { return m_laserAngles; } + inline unsigned int laserBeams() const { return m_laserBeams; } + + static const double nullLikelihood; + protected: + //state of the matcher + bool m_activeAreaComputed; + + /**laser parameters*/ + unsigned int m_laserBeams; + double m_laserAngles[LASER_MAXBEAMS]; + //OrientedPoint m_laserPose; + PARAM_SET_GET(OrientedPoint, laserPose, protected, public, public) + PARAM_SET_GET(double, laserMaxRange, protected, public, public) + /**scan_matcher parameters*/ + PARAM_SET_GET(double, usableRange, protected, public, public) + PARAM_SET_GET(double, gaussianSigma, protected, public, public) + PARAM_SET_GET(double, likelihoodSigma, protected, public, public) + PARAM_SET_GET(int, kernelSize, protected, public, public) + PARAM_SET_GET(double, optAngularDelta, protected, public, public) + PARAM_SET_GET(double, optLinearDelta, protected, public, public) + PARAM_SET_GET(unsigned int, optRecursiveIterations, protected, public, public) + PARAM_SET_GET(unsigned int, likelihoodSkip, protected, public, public) + PARAM_SET_GET(double, llsamplerange, protected, public, public) + PARAM_SET_GET(double, llsamplestep, protected, public, public) + PARAM_SET_GET(double, lasamplerange, protected, public, public) + PARAM_SET_GET(double, lasamplestep, protected, public, public) + PARAM_SET_GET(bool, generateMap, protected, public, public) + PARAM_SET_GET(double, enlargeStep, protected, public, public) + PARAM_SET_GET(double, fullnessThreshold, protected, public, public) + PARAM_SET_GET(double, angularOdometryReliability, protected, public, public) + PARAM_SET_GET(double, linearOdometryReliability, protected, public, public) + PARAM_SET_GET(double, freeCellRatio, protected, public, public) + PARAM_SET_GET(unsigned int, initialBeamsSkip, protected, public, public) + + // allocate this large array only once + IntPoint* m_linePoints; +}; + +inline double ScanMatcher::icpStep(OrientedPoint & pret, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const{ + const double * angle=m_laserAngles+m_initialBeamsSkip; + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + unsigned int skip=0; + double freeDelta=map.getDelta()*m_freeCellRatio; + std::list pairs; + + for (const double* r=readings+m_initialBeamsSkip; rm_likelihoodSkip?0:skip; + if (*r>m_usableRange||*r==0.0) continue; + if (skip) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint iphit=map.world2map(phit); + Point pfree=lp; + pfree.x+=(*r-map.getDelta()*freeDelta)*cos(lp.theta+*angle); + pfree.y+=(*r-map.getDelta()*freeDelta)*sin(lp.theta+*angle); + pfree=pfree-phit; + IntPoint ipfree=map.world2map(pfree); + bool found=false; + Point bestMu(0.,0.); + Point bestCell(0.,0.); + for (int xx=-m_kernelSize; xx<=m_kernelSize; xx++) + for (int yy=-m_kernelSize; yy<=m_kernelSize; yy++){ + IntPoint pr=iphit+IntPoint(xx,yy); + IntPoint pf=pr+ipfree; + //AccessibilityState s=map.storage().cellState(pr); + //if (s&Inside && s&Allocated){ + const PointAccumulator& cell=map.cell(pr); + const PointAccumulator& fcell=map.cell(pf); + if (((double)cell )> m_fullnessThreshold && ((double)fcell )m_likelihoodSkip?0:skip; + if (skip||*r>m_usableRange||*r==0.0) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint iphit=map.world2map(phit); + Point pfree=lp; + pfree.x+=(*r-map.getDelta()*freeDelta)*cos(lp.theta+*angle); + pfree.y+=(*r-map.getDelta()*freeDelta)*sin(lp.theta+*angle); + pfree=pfree-phit; + IntPoint ipfree=map.world2map(pfree); + bool found=false; + Point bestMu(0.,0.); + for (int xx=-m_kernelSize; xx<=m_kernelSize; xx++) + for (int yy=-m_kernelSize; yy<=m_kernelSize; yy++){ + IntPoint pr=iphit+IntPoint(xx,yy); + IntPoint pf=pr+ipfree; + //AccessibilityState s=map.storage().cellState(pr); + //if (s&Inside && s&Allocated){ + const PointAccumulator& cell=map.cell(pr); + const PointAccumulator& fcell=map.cell(pf); + if (((double)cell )> m_fullnessThreshold && ((double)fcell )m_likelihoodSkip?0:skip; + if (*r>m_usableRange) continue; + if (skip) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint iphit=map.world2map(phit); + Point pfree=lp; + pfree.x+=(*r-freeDelta)*cos(lp.theta+*angle); + pfree.y+=(*r-freeDelta)*sin(lp.theta+*angle); + pfree=pfree-phit; + IntPoint ipfree=map.world2map(pfree); + bool found=false; + Point bestMu(0.,0.); + for (int xx=-m_kernelSize; xx<=m_kernelSize; xx++) + for (int yy=-m_kernelSize; yy<=m_kernelSize; yy++){ + IntPoint pr=iphit+IntPoint(xx,yy); + IntPoint pf=pr+ipfree; + //AccessibilityState s=map.storage().cellState(pr); + //if (s&Inside && s&Allocated){ + const PointAccumulator& cell=map.cell(pr); + const PointAccumulator& fcell=map.cell(pf); + if (((double)cell )>m_fullnessThreshold && ((double)fcell ) +#include +#include +//#include +#include "gmapping/scanmatcher/scanmatcher.h" +#include + +namespace GMapping { + +class SCANMATCHER_EXPORT ScanMatcherProcessor{ + public: + ScanMatcherProcessor(const ScanMatcherMap& m); + ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta); + virtual ~ScanMatcherProcessor (); + virtual void processScan(const RangeReading & reading); + void setSensorMap(const SensorMap& smap, std::string sensorName="FLASER"); + void init(); + void setMatchingParameters + (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false); + void setRegistrationParameters(double regScore, double critScore); + OrientedPoint getPose() const; + inline const ScanMatcherMap& getMap() const {return m_map;} + inline ScanMatcher& matcher() {return m_matcher;} + inline void setmaxMove(double mmove){m_maxMove=mmove;} + bool useICP; + protected: + ScanMatcher m_matcher; + bool m_computeCovariance; + bool m_first; + SensorMap m_sensorMap; + double m_regScore, m_critScore; + unsigned int m_beams; + double m_maxMove; + //state + ScanMatcherMap m_map; + OrientedPoint m_pose; + OrientedPoint m_odoPose; + int m_count; + //gsl_eigen_symmv_workspace * m_eigenspace; +}; + +}; + +#endif + + diff --git a/src/openslam_gmapping/include/gmapping/scanmatcher/smmap.h b/src/openslam_gmapping/include/gmapping/scanmatcher/smmap.h new file mode 100644 index 0000000..681165c --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/scanmatcher/smmap.h @@ -0,0 +1,54 @@ +#ifndef SMMAP_H +#define SMMAP_H +#include +#include +#include +#define SIGHT_INC 1 + +namespace GMapping { + +struct PointAccumulator{ + typedef point FloatPoint; + /* before + PointAccumulator(int i=-1): acc(0,0), n(0), visits(0){assert(i==-1);} + */ + /*after begin*/ + PointAccumulator(): acc(0,0), n(0), visits(0){} + PointAccumulator(int i): acc(0,0), n(0), visits(0){assert(i==-1);} + /*after end*/ + inline void update(bool value, const Point& p=Point(0,0)); + inline Point mean() const {return 1./n*Point(acc.x, acc.y);} + inline operator double() const { return visits?(double)n*SIGHT_INC/(double)visits:-1; } + inline void add(const PointAccumulator& p) {acc=acc+p.acc; n+=p.n; visits+=p.visits; } + static const PointAccumulator& Unknown(); + static PointAccumulator* unknown_ptr; + FloatPoint acc; + int n, visits; + inline double entropy() const; +}; + +void PointAccumulator::update(bool value, const Point& p){ + if (value) { + acc.x+= static_cast(p.x); + acc.y+= static_cast(p.y); + n++; + visits+=SIGHT_INC; + } else + visits++; +} + +double PointAccumulator::entropy() const{ + if (!visits) + return -log(.5); + if (n==visits || n==0) + return 0; + double x=(double)n*SIGHT_INC/(double)visits; + return -( x*log(x)+ (1-x)*log(1-x) ); +} + + +typedef Map > ScanMatcherMap; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensor.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensor.h new file mode 100644 index 0000000..492b892 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensor.h @@ -0,0 +1,25 @@ +#ifndef SENSOR_H +#define SENSOR_H + +#include +#include +#include + +namespace GMapping{ + +class SENSOR_BASE_EXPORT Sensor{ + public: + Sensor(const std::string& name=""); + virtual ~Sensor(); + inline std::string getName() const {return m_name;} + inline void setName(const std::string& name) {m_name=name;} + protected: + std::string m_name; +}; + +typedef std::map SensorMap; + +}; //end namespace + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensoreading.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensoreading.h new file mode 100644 index 0000000..22dda2f --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensoreading.h @@ -0,0 +1,20 @@ +#ifndef SENSORREADING_H +#define SENSORREADING_H + +#include "gmapping/sensor/sensor_base/sensor.h" +#include + +namespace GMapping{ + +class SENSOR_BASE_EXPORT SensorReading{ + public: + SensorReading(const Sensor* s=0, double time=0); + inline double getTime() const {return m_time;} + inline const Sensor* getSensor() const {return m_sensor;} + protected: + double m_time; + const Sensor* m_sensor; +}; + +}; //end namespace +#endif diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h new file mode 100644 index 0000000..7d2edfd --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h @@ -0,0 +1,25 @@ +#ifndef SENSORREADING_H +#define SENSORREADING_H + +#include "gmapping/sensor/sensor_base/sensor.h" +#include + +namespace GMapping{ + +class SENSOR_BASE_EXPORT SensorReading{ + public: + SensorReading(const Sensor* s=0, double time=0); + virtual ~SensorReading(); + inline double getTime() const {return m_time;} + inline void setTime(double t) {m_time=t;} + inline const Sensor* getSensor() const {return m_sensor;} + protected: + double m_time; + const Sensor* m_sensor; + +}; + +}; //end namespace +#endif + + diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometryreading.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometryreading.h new file mode 100644 index 0000000..2cb09e6 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometryreading.h @@ -0,0 +1,30 @@ +#ifndef ODOMETRYREADING_H +#define ODOMETRYREADING_H + +#include +#include +#include +#include "gmapping/sensor/sensor_odometry/odometrysensor.h" +#include + +namespace GMapping{ + +class SENSOR_ODOMETRY_EXPORT OdometryReading: public SensorReading{ + public: + OdometryReading(const OdometrySensor* odo, double time=0); + inline const OrientedPoint& getPose() const {return m_pose;} + inline const OrientedPoint& getSpeed() const {return m_speed;} + inline const OrientedPoint& getAcceleration() const {return m_acceleration;} + inline void setPose(const OrientedPoint& pose) {m_pose=pose;} + inline void setSpeed(const OrientedPoint& speed) {m_speed=speed;} + inline void setAcceleration(const OrientedPoint& acceleration) {m_acceleration=acceleration;} + + protected: + OrientedPoint m_pose; + OrientedPoint m_speed; + OrientedPoint m_acceleration; +}; + +}; +#endif + diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometrysensor.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometrysensor.h new file mode 100644 index 0000000..3caf1a7 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometrysensor.h @@ -0,0 +1,21 @@ +#ifndef ODOMETRYSENSOR_H +#define ODOMETRYSENSOR_H + +#include +#include +#include + +namespace GMapping{ + +class SENSOR_ODOMETRY_EXPORT OdometrySensor: public Sensor{ + public: + OdometrySensor(const std::string& name, bool ideal=false); + inline bool isIdeal() const { return m_ideal; } + protected: + bool m_ideal; +}; + +}; + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangereading.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangereading.h new file mode 100644 index 0000000..692f571 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangereading.h @@ -0,0 +1,33 @@ +#ifndef RANGEREADING_H +#define RANGEREADING_H + +#include +#include +#include "gmapping/sensor/sensor_range/rangesensor.h" +#include + +#ifdef _MSC_VER +namespace std { + extern template class __declspec(dllexport) vector; +}; +#endif + +namespace GMapping{ + +class SENSOR_RANGE_EXPORT RangeReading: public SensorReading, public std::vector{ + public: + RangeReading(const RangeSensor* rs, double time=0); + RangeReading(unsigned int n_beams, const double* d, const RangeSensor* rs, double time=0); + virtual ~RangeReading(); + inline const OrientedPoint& getPose() const {return m_pose;} + inline void setPose(const OrientedPoint& pose) {m_pose=pose;} + unsigned int rawView(double* v, double density=0.) const; + std::vector cartesianForm(double maxRange=1e6) const; + unsigned int activeBeams(double density=0.) const; + protected: + OrientedPoint m_pose; +}; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangesensor.h b/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangesensor.h new file mode 100644 index 0000000..2e20653 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/sensor/sensor_range/rangesensor.h @@ -0,0 +1,36 @@ +#ifndef RANGESENSOR_H +#define RANGESENSOR_H + +#include +#include +#include +#include + +namespace GMapping{ + +class SENSOR_RANGE_EXPORT RangeSensor: public Sensor{ + friend class Configuration; + friend class CarmenConfiguration; + friend class CarmenWrapper; + public: + struct Beam{ + OrientedPoint pose; //pose relative to the center of the sensor + double span; //spam=0 indicates a line-like beam + double maxRange; //maximum range of the sensor + double s,c; //sinus and cosinus of the beam (optimization); + }; + RangeSensor(std::string name); + RangeSensor(std::string name, unsigned int beams, double res, const OrientedPoint& position=OrientedPoint(0,0,0), double span=0, double maxrange=89.0); + inline const std::vector& beams() const {return m_beams;} + inline std::vector& beams() {return m_beams;} + inline OrientedPoint getPose() const {return m_pose;} + void updateBeamsLookup(); + bool newFormat; + protected: + OrientedPoint m_pose; + std::vector m_beams; +}; + +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/autoptr.h b/src/openslam_gmapping/include/gmapping/utils/autoptr.h new file mode 100644 index 0000000..abc647c --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/autoptr.h @@ -0,0 +1,97 @@ +#ifndef AUTOPTR_H +#define AUTOPTR_H +#include + +namespace GMapping{ + +template +class autoptr{ + protected: + + public: + struct reference{ + X* data; + unsigned int shares; + }; + inline autoptr(X* p=(X*)(0)); + inline autoptr(const autoptr& ap); + inline autoptr& operator=(const autoptr& ap); + inline ~autoptr(); + inline operator int() const; + inline X& operator*(); + inline const X& operator*() const; + //p + reference * m_reference; + protected: +}; + +template +autoptr::autoptr(X* p){ + m_reference=0; + if (p){ + m_reference=new reference; + m_reference->data=p; + m_reference->shares=1; + } +} + +template +autoptr::autoptr(const autoptr& ap){ + m_reference=0; + reference* ref=ap.m_reference; + if (ap.m_reference){ + m_reference=ref; + m_reference->shares++; + } +} + +template +autoptr& autoptr::operator=(const autoptr& ap){ + reference* ref=ap.m_reference; + if (m_reference==ref){ + return *this; + } + if (m_reference && !(--m_reference->shares)){ + delete m_reference->data; + delete m_reference; + m_reference=0; + } + if (ref){ + m_reference=ref; + m_reference->shares++; + } +//20050802 nasty changes begin + else + m_reference=0; +//20050802 nasty changes end + return *this; +} + +template +autoptr::~autoptr(){ + if (m_reference && !(--m_reference->shares)){ + delete m_reference->data; + delete m_reference; + m_reference=0; + } +} + +template +autoptr::operator int() const{ + return m_reference && m_reference->shares && m_reference->data; +} + +template +X& autoptr::operator*(){ + assert(m_reference && m_reference->shares && m_reference->data); + return *(m_reference->data); +} + +template +const X& autoptr::operator*() const{ + assert(m_reference && m_reference->shares && m_reference->data); + return *(m_reference->data); +} + +}; +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/commandline.h b/src/openslam_gmapping/include/gmapping/utils/commandline.h new file mode 100644 index 0000000..d19617a --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/commandline.h @@ -0,0 +1,114 @@ +/***************************************************************** + * + * This file is part of the GMAPPING project + * + * GMAPPING Copyright (c) 2004 Giorgio Grisetti, + * Cyrill Stachniss, and Wolfram Burgard + * + * This software is licensed under the 3-Clause BSD License + * and is copyrighted by Giorgio Grisetti, Cyrill Stachniss, + * and Wolfram Burgard. + * + * Further information on this license can be found at: + * https://opensource.org/licenses/BSD-3-Clause + * + * GMAPPING is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. + * + *****************************************************************/ + + +#ifndef COMMANDLINE_H +#define COMMANDLINE_H + + +#define parseFlag(name,value)\ +if (!strcmp(argv[c],name)){\ + value=true;\ + cout << name << " on"<< endl;\ + recognized=true;\ +}\ + +#define parseString(name,value)\ +if (!strcmp(argv[c],name) && c +#include +#include +#include +#include "gmapping/utils/stat.h" +#include + +namespace GMapping { + +class DataSmoother { + public: + struct DataPoint { + DataPoint(double _x=0.0, double _y=0.0) { x=_x;y=_y;} + double x; + double y; + }; + + typedef std::vector Data; + + DataSmoother(double parzenWindow) { + init(parzenWindow); + }; + + virtual ~DataSmoother() { + m_data.clear(); + m_cummulated.clear(); + }; + + void init(double parzenWindow) { + m_data.clear(); + m_cummulated.clear(); + m_int=-1; + m_parzenWindow = parzenWindow; + m_from = MAXDOUBLE; + m_to = -MAXDOUBLE; + m_lastStep = 0.001; + }; + + + double sqr(double x) { + return x*x; + } + + + void setMinToZero() { + double minval=MAXDOUBLE; + + for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { + const DataPoint& d = *it; + if (minval > d.y) + minval = d.y; + } + + for (Data::iterator it = m_data.begin(); it != m_data.end(); it++) { + DataPoint& d = *it; + d.y = d.y - minval; + } + + m_cummulated.clear(); + } + + void add(double x, double p) { + m_data.push_back(DataPoint(x,p)); + m_int=-1; + + if (x-3.0*m_parzenWindow < m_from) + m_from = x - 3.0*m_parzenWindow; + + if (x+3.0*m_parzenWindow > m_to) + m_to = x + 3.0*m_parzenWindow; + + m_cummulated.clear(); + } + + void integrate(double step) { + m_lastStep = step; + double sum=0; + for (double x=m_from; x<=m_to; x+=step) + sum += smoothedData(x)*step; + m_int = sum; + } + + double integral(double step, double xTo) { + double sum=0; + for (double x=m_from; x<=xTo; x+=step) + sum += smoothedData(x)*step; + return sum; + } + + + double smoothedData(double x) { + assert( m_data.size() > 0 ); + + double p=0; + double sum_y=0; + for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { + const DataPoint& d = *it; + double dist = fabs(x - d.x); + p += d.y * exp( -0.5 * sqr ( dist/m_parzenWindow ) ); + sum_y += d.y; + } + double denom = sqrt(2.0 * M_PI) * (sum_y) * m_parzenWindow; + p *= 1./denom; + + return p; + } + + double sampleNumeric(double step) { + + assert( m_data.size() > 0 ); + + if (m_int <0 || step != m_lastStep) + integrate(step); + + double r = sampleUniformDouble(0.0, m_int); + double sum2=0; + for (double x=m_from; x<=m_to; x+=step) { + sum2 += smoothedData(x)*step; + if (sum2 > r) + return x-0.5*step; + } + return m_to; + } + + void computeCummuated() { + assert( m_data.size() > 0 ); + m_cummulated.resize(m_data.size()); + std::vector::iterator cit = m_cummulated.begin(); + double sum=0; + for (Data::const_iterator it = m_data.begin(); it != m_data.end(); ++it) { + sum += it->y; + (*cit) = sum; + ++cit; + } + } + + double sample() { + + assert( m_data.size() > 0 ); + + if (m_cummulated.size() == 0) { + computeCummuated(); + } + double maxval = m_cummulated.back(); + + double random = sampleUniformDouble(0.0, maxval); + int nCum = (int) m_cummulated.size(); + double sum=0; + int i=0; + while (i= random) { + return m_data[i].x + sampleGaussian(m_parzenWindow); + } + i++; + } + assert(0); + } + + + void sampleMultiple(std::vector& samples, int num) { + + assert( m_data.size() > 0 ); + samples.clear(); + + if (m_cummulated.size() == 0) { + computeCummuated(); + } + double maxval = m_cummulated.back(); + + std::vector randoms(num); + for (int i=0; i= randoms[j] && j < num) { + samples.push_back( m_data[i].x + sampleGaussian(m_parzenWindow) ); + j++; + } + i++; + } + } + + + + void approxGauss(double step, double* mean, double* sigma) { + + assert( m_data.size() > 0 ); + + double sum=0; + double d=0; + + *mean=0; + for (double x=m_from; x<=m_to; x+=step) { + d = smoothedData(x); + sum += d; + *mean += x*d; + } + *mean /= sum; + + double var=0; + for (double x=m_from; x<=m_to; x+=step) { + d = smoothedData(x); + var += sqr(x-*mean) * d; + } + var /= sum; + + *sigma = sqrt(var); + } + + double gauss(double x, double mean, double sigma) { + return 1.0/(sqrt(2.0*M_PI)*sigma) * exp(-0.5 * sqr( (x-mean)/sigma)); + } + + double cramerVonMisesToGauss(double step, double mean, double sigma) { + + double p=0; + double s=0; + double g=0; + double sint=0; + double gint=0; + + for (double x=m_from; x<=m_to; x+=step) { + s = smoothedData(x); + sint += s * step; + + g = gauss(x, mean, sigma); + gint += g * step; + + p += sqr( (sint - gint) ); + } + + return p; + } + + double kldToGauss(double step, double mean, double sigma) { + + double p=0; + double d=0; + double g=0; + + double sd=0; + double sg=0; + + for (double x=m_from; x<=m_to; x+=step) { + + d = 1e-10 + smoothedData(x); + g = 1e-10 + gauss(x, mean, sigma); + + sd += d; + sg += g; + + p += d * log(d/g); + } + + sd *= step; + sg *= step; + + if (fabs(sd-sg) > 0.1) + assert(0); + + p *= step; + return p; + } + + + void gnuplotDumpData(FILE* fp) { + for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { + const DataPoint& d = *it; + fprintf(fp, "%f %f\n", d.x, d.y); + } + } + + void gnuplotDumpSmoothedData(FILE* fp, double step) { + for (double x=m_from; x<=m_to; x+=step) + fprintf(fp, "%f %f\n", x, smoothedData(x)); + } + + protected: + Data m_data; + std::vector m_cummulated; + double m_int; + double m_lastStep; + + double m_parzenWindow; + double m_from; + double m_to; + +}; + + + + +/* class DataSmoother3D { */ +/* public: */ +/* struct InputPoint { */ +/* InputPoint(double _x=0.0, double _y=0.0, double _t=0.0) { x=_x;y=_y;t=_t;} */ +/* double x; */ +/* double y; */ +/* double t; */ +/* }; */ + +/* struct DataPoint { */ +/* DataPoint(const InputPoint& _p, double _val=0.0;) { p=_p;val=_val;} */ +/* InputPoint p; */ +/* double val; */ +/* }; */ + +/* typedef std::list Data; */ + +/* DataSmoother(double parzenWindow) { */ +/* m_int=-1; */ +/* m_parzenWindow = parzenWindow; */ +/* m_from = InputPoint(MAXDOUBLE,MAXDOUBLE,MAXDOUBLE); */ +/* m_to = InputPoint(-MAXDOUBLE,-MAXDOUBLE,-MAXDOUBLE); */ +/* }; */ + +/* virtual ~DataSmoother() { */ +/* m_data.clear(); */ +/* }; */ + +/* double sqr(double x) { */ +/* return x*x; */ +/* } */ + + +/* void setMinToZero() { */ +/* double minval=MAXDOUBLE; */ +/* for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { */ +/* const DataPoint& d = *it; */ +/* if (minval > d.val) */ +/* minval = d.val; */ +/* } */ + +/* for (Data::iterator it = m_data.begin(); it != m_data.end(); it++) { */ +/* DataPoint& d = *it; */ +/* d.val = d.val - minval; */ +/* } */ + +/* } */ + +/* void add(double x, double y, double t, double v) { */ +/* m_data.push_back(DataPoint(InputPoint(x,y,t),v)); */ +/* m_int=-1; */ + +/* if (x-3.0*m_parzenWindow < m_from.x) */ +/* m_from.x = x - 3.0*m_parzenWindow.x; */ +/* if (x+3.0*m_parzenWindow.x > m_to.x) */ +/* m_to.x = x + 3.0*m_parzenWindow.x; */ + +/* if (y-3.0*m_parzenWindow < m_from.y) */ +/* m_from.y = y - 3.0*m_parzenWindow.y; */ +/* if (y+3.0*m_parzenWindow.y > m_to.y) */ +/* m_to.y = y + 3.0*m_parzenWindow.y; */ + +/* if (t-3.0*m_parzenWindow < m_from.t) */ +/* m_from.t = t - 3.0*m_parzenWindow.t; */ +/* if (t+3.0*m_parzenWindow.t > m_to.t) */ +/* m_to.t = t + 3.0*m_parzenWindow.t; */ +/* } */ + +/* void integrate(InputPoint step) { */ +/* m_lastStep = step; */ +/* double sum=0; */ +/* for (double x=m_from.x; x<=m_to.x; x+=step.x) { */ +/* for (double y=m_from.y; x<=m_to.y; y+=step.y) { */ +/* for (double t=m_from.t; t<=m_to.t; t+=step.t) { */ +/* sum += smoothedData(InputPoint(x,y,t)) * step.x * step.y * step.t; */ +/* } */ +/* } */ +/* } */ +/* m_int = sum; */ +/* } */ + + +/* double smoothedData(InputPoint pnt) { */ +/* assert( m_data.size() > 0 ); */ +/* double p=0; */ +/* double sum_y=0; */ +/* for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { */ +/* const DataPoint& d = *it; */ +/* double u = sqr( (pnt.x-d.x)/m_parzenWindow.x) + */ +/* sqr((pnt.y-d.y)/m_parzenWindow.y) + */ +/* sqr((pnt.t-d.t)/m_parzenWindow.t); */ +/* p += d.val * exp( -0.5 * u); */ +/* sum_y += d.y; */ +/* } */ +/* double denom = sqr(m_parzenWindow.x)*sqr(m_parzenWindow.x)*sqr(m_parzenWindow.x) * (sum_y) * */ +/* sqrt(sqr(m_parzenWindow.x) + sqr(m_parzenWindow.y) + sqr(m_parzenWindow.t)); */ +/* p *= 1./denom; */ + +/* return p; */ +/* } */ + +/* double sample(const InputPoint& step) { */ + +/* assert( m_data.size() > 0 ); */ + +/* if (m_int <0 || step != m_lastStep) */ +/* integrate(step); */ + +/* double r = sampleUniformDouble(0.0, m_int); */ +/* double sum2=0; */ +/* for (double x=m_from; x<=m_to; x+=step) { */ +/* sum2 += smoothedData(x)*step; */ +/* if (sum2 > r) */ +/* return x-0.5*step; */ +/* } */ +/* return m_to; */ +/* } */ + +/* void gnuplotDumpData(FILE* fp) { */ +/* for (Data::const_iterator it = m_data.begin(); it != m_data.end(); it++) { */ +/* const DataPoint& d = *it; */ +/* fprintf(fp, "%f %f %f %f\n", d.x, d.y, d.t, d.val); */ +/* } */ +/* } */ + +/* void gnuplotDumpSmoothedData(FILE* fp, double step) { */ +/* for (double x=m_from; x<=m_to; x+=step) */ +/* fprintf(fp, "%f %f %f %f\n", x, ,y, t, smoothedData(x,y,t)); */ +/* } */ + +/* protected: */ +/* Data m_data; */ +/* vector m_intdata; */ +/* double m_int; */ +/* double m_lastStep; */ + +/* double m_parzenWindow; */ +/* double m_from; */ +/* double m_to; */ + +/* }; */ + +} + +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/dmatrix.h b/src/openslam_gmapping/include/gmapping/utils/dmatrix.h new file mode 100644 index 0000000..708a1f5 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/dmatrix.h @@ -0,0 +1,232 @@ +#ifndef DMATRIX_HXX +#define DMATRIX_HXX + +#include +#include +namespace GMapping { + +class DNotInvertibleMatrixException: public std::exception {}; +class DIncompatibleMatrixException: public std::exception {}; +class DNotSquareMatrixException: public std::exception {}; + +template class DMatrix { + public: + DMatrix(int n=0,int m=0); + ~DMatrix(); + + DMatrix(const DMatrix&); + DMatrix& operator=(const DMatrix&); + + X * operator[](int i) { + if ((*shares)>1) detach(); + return mrows[i]; + } + + const X * operator[](int i) const { return mrows[i]; } + + const X det() const; + DMatrix inv() const; + DMatrix transpose() const; + DMatrix operator*(const DMatrix&) const; + DMatrix operator+(const DMatrix&) const; + DMatrix operator-(const DMatrix&) const; + DMatrix operator*(const X&) const; + + int rows() const { return nrows; } + int columns() const { return ncols; } + + void detach(); + + static DMatrix I(int); + + protected: + int nrows,ncols; + X * elems; + X ** mrows; + + int * shares; +}; + +template DMatrix::DMatrix(int n,int m) { + if (n<1) n=1; + if (m<1) m=1; + nrows=n; + ncols=m; + elems=new X[nrows*ncols]; + mrows=new X* [nrows]; + for (int i=0;i DMatrix::~DMatrix() { + if (--(*shares)) return; + delete [] elems; + delete [] mrows; + delete shares; +} + +template DMatrix::DMatrix(const DMatrix& m) { + shares=m.shares; + elems=m.elems; + nrows=m.nrows; + ncols=m.ncols; + mrows=m.mrows; + (*shares)++; +} + +template DMatrix& DMatrix::operator=(const DMatrix& m) { + if (!--(*shares)) { + delete [] elems; + delete [] mrows; + delete shares; + } + shares=m.shares; + elems=m.elems; + nrows=m.nrows; + ncols=m.ncols; + mrows=m.mrows; + (*shares)++; + return *this; +} + +template DMatrix DMatrix::inv() const { + if (nrows!=ncols) throw DNotInvertibleMatrixException(); + DMatrix aux1(*this),aux2(I(nrows)); + aux1.detach(); + for (int i=0;i=nrows) throw DNotInvertibleMatrixException(); + X val=aux1.mrows[k][i]; + for (int j=0;j const X DMatrix::det() const { + if (nrows!=ncols) throw DNotSquareMatrixException(); + DMatrix aux(*this); + X d=X(1); + aux.detach(); + for (int i=0;i=nrows) return X(0); + X val=aux.mrows[k][i]; + for (int j=0;j DMatrix DMatrix::transpose() const { + DMatrix aux(ncols, nrows); + for (int i=0; i DMatrix DMatrix::operator*(const DMatrix& m) const { + if (ncols!=m.nrows) throw DIncompatibleMatrixException(); + DMatrix aux(nrows,m.ncols); + for (int i=0;i DMatrix DMatrix::operator+(const DMatrix& m) const { + if (ncols!=m.ncols||nrows!=m.nrows) throw DIncompatibleMatrixException(); + DMatrix aux(nrows,ncols); + for (int i=0;i DMatrix DMatrix::operator-(const DMatrix& m) const { + if (ncols!=m.ncols||nrows!=m.nrows) throw DIncompatibleMatrixException(); + DMatrix aux(nrows,ncols); + for (int i=0;i DMatrix DMatrix::operator*(const X& e) const { + DMatrix aux(nrows,ncols); + for (int i=0;i void DMatrix::detach() { + DMatrix aux(nrows,ncols); + for (int i=0;i DMatrix DMatrix::I(int n) { + DMatrix aux(n,n); + for (int i=0;i std::ostream& operator<<(std::ostream& os, const DMatrix &m) { + os << "{"; + for (int i=0;i0) os << ","; + os << "{"; + for (int j=0;j0) os << ","; + os << m[i][j]; + } + os << "}"; + } + return os << "}"; +} + +}; //namespace GMapping +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/gvalues.h b/src/openslam_gmapping/include/gmapping/utils/gvalues.h new file mode 100644 index 0000000..5223b9e --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/gvalues.h @@ -0,0 +1,29 @@ +#ifndef _GVALUES_H_ +#define _GVALUES_H_ + +#ifdef LINUX + #include +#endif +#ifdef MACOSX + #include + #include + #define MAXDOUBLE 1e1000 + //#define isnan(x) (x==FP_NAN) +#endif +#ifdef _WIN32 + #include + #ifndef __DRAND48_DEFINED__ + #define __DRAND48_DEFINED__ + inline double drand48() { return double(rand()) / RAND_MAX;} + inline void srand48(unsigned int seed) { srand(seed); } + #endif + #ifndef M_PI + #define M_PI 3.1415926535897932384626433832795 + #endif + #define round(d) (floor((d) + 0.5)) + typedef unsigned int uint; + #define isnan(x) (_isnan(x)) +#endif + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/utils/macro_params.h b/src/openslam_gmapping/include/gmapping/utils/macro_params.h new file mode 100644 index 0000000..5051408 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/macro_params.h @@ -0,0 +1,38 @@ +#ifndef MACRO_PARAMS_H +#define MACRO_PARAMS_H + +#define PARAM_SET_GET(type, name, qualifier, setqualifier, getqualifier)\ +qualifier: type m_##name;\ +getqualifier: inline type get##name() const {return m_##name;}\ +setqualifier: inline void set##name(type name) {m_##name=name;} + +#define PARAM_SET(type, name, qualifier, setqualifier)\ +qualifier: type m_##name;\ +setqualifier: inline void set##name(type name) {m_##name=name;} + +#define PARAM_GET(type, name, qualifier, getqualifier)\ +qualifier: type m_##name;\ +getqualifier: inline type get##name() const {return m_##name;} + +#define MEMBER_PARAM_SET_GET(member, type, name, qualifier, setqualifier, getqualifier)\ +getqualifier: inline type get##name() const {return member.get##name();}\ +setqualifier: inline void set##name(type name) { member.set##name(name);} + +#define MEMBER_PARAM_SET(member, type, name, qualifier, setqualifier, getqualifier)\ +setqualifier: inline void set##name(type name) { member.set##name(name);} + +#define MEMBER_PARAM_GET(member, type, name, qualifier, setqualifier, getqualifier)\ +getqualifier: inline type get##name() const {return member.get##name();} + +#define STRUCT_PARAM_SET_GET(member, type, name, qualifier, setqualifier, getqualifier)\ +getqualifier: inline type get##name() const {return member.name;}\ +setqualifier: inline void set##name(type name) {member.name=name;} + +#define STRUCT_PARAM_SET(member, type, name, qualifier, setqualifier, getqualifier)\ +setqualifier: inline void set##name(type name) {member.name=name;} + +#define STRUCT_PARAM_GET(member, type, name, qualifier, setqualifier, getqualifier)\ +getqualifier: inline type get##name() const {return member.name;}\ + +#define convertStringArgument(var,val,buf) if (!strcmp(buf,#val)) var=val +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/movement.h b/src/openslam_gmapping/include/gmapping/utils/movement.h new file mode 100644 index 0000000..bd27d83 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/movement.h @@ -0,0 +1,46 @@ +#ifndef FSRMOVEMENT_H +#define FSRMOVEMENT_H + +#include "gmapping/utils/point.h" +#include + +namespace GMapping { + + /** fsr-movement (forward, sideward, rotate) **/ +class UTILS_EXPORT FSRMovement { + public: + FSRMovement(double f=0.0, double s=0.0, double r=0.0); + FSRMovement(const FSRMovement& src); + FSRMovement(const OrientedPoint& pt1, const OrientedPoint& pt2); + FSRMovement(const FSRMovement& move1, const FSRMovement& move2); + + + void normalize(); + void invert(); + void compose(const FSRMovement& move2); + OrientedPoint move(const OrientedPoint& pt) const; + + + /* static members */ + + static OrientedPoint movePoint(const OrientedPoint& pt, const FSRMovement& move1); + + static FSRMovement composeMoves(const FSRMovement& move1, + const FSRMovement& move2); + + static FSRMovement moveBetweenPoints(const OrientedPoint& pt1, + const OrientedPoint& pt2); + + static FSRMovement invertMove(const FSRMovement& move1); + + static OrientedPoint frameTransformation(const OrientedPoint& reference_pt_frame1, + const OrientedPoint& reference_pt_frame2, + const OrientedPoint& pt_frame1); + + public: + double f; + double s; + double r; +}; +} +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/optimizer.h b/src/openslam_gmapping/include/gmapping/utils/optimizer.h new file mode 100644 index 0000000..3d1113b --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/optimizer.h @@ -0,0 +1,159 @@ +#ifndef _OPTIMIZER_H_ +#define _OPTIMIZER_H_ + +#include "gmapping/utils/point.h" + +namespace GMapping { + +struct OptimizerParams{ + double discretization; + double angularStep, linearStep; + int iterations; + double maxRange; +}; + +template +struct Optimizer { + Optimizer(const OptimizerParams& params); + OptimizerParams params; + Map lmap; + Likelihood likelihood; + OrientedPoint gradientDescent(const RangeReading& oldReading, const RangeReading& newReading); + OrientedPoint gradientDescent(const RangeReading& oldReading, const OrientedPoint& pose, OLocalMap& Map); + enum Move {Forward, Backward, Left, Right, TurnRight, TurnLeft}; +}; + +template +Optimizer::Optimizer(const OptimizerParams& p): + params(p), + lmap(p.discretization){} + +template +OrientedPoint Optimizer::gradientDescent(const RangeReading& oldReading, const RangeReading& newReading){ + lmap.clear(); + lmap.update(oldReading, OrientedPoint(0,0,0), params.maxRange); + OrientedPoint delta=absoluteDifference(newReading.getPose(), oldReading.getPose()); + OrientedPoint bestPose=delta; + double bestScore=likelihood(lmap, newReading, bestPose, params.maxRange); + int it=0; + double lstep=params.linearStep, astep=params.angularStep; + bool increase; +/* cerr << "bestScore=" << bestScore << endl;;*/ + do { + increase=false; + OrientedPoint itBestPose=bestPose; + double itBestScore=bestScore; + bool itIncrease; + do { + itIncrease=false; + OrientedPoint testBestPose=itBestPose; + double testBestScore=itBestScore; + for (Move move=Forward; move<=TurnLeft; move=(Move)((int)move+1)){ + OrientedPoint testPose=itBestPose; + switch(move){ + case Forward: testPose.x+=lstep; + break; + case Backward: testPose.x-=lstep; + break; + case Left: testPose.y+=lstep; + break; + case Right: testPose.y-=lstep; + break; + case TurnRight: testPose.theta-=astep; + break; + case TurnLeft: testPose.theta+=astep; + break; + } + double score=likelihood(lmap, newReading, testPose, params.maxRange); + if (score>testBestScore){ + testBestScore=score; + testBestPose=testPose; + } + } + if (testBestScore > itBestScore){ + itBestScore=testBestScore; + itBestPose=testBestPose; +/* cerr << "s=" << itBestScore << " ";*/ + itIncrease=true; + } + } while(itIncrease); + if (itBestScore > bestScore){ +/* cerr << "S(" << itBestScore << "," << bestScore<< ")";*/ + bestScore=itBestScore; + bestPose=itBestPose; + increase=true; + } else { + it++; + lstep*=0.5; + astep*=0.5; + } + } while (it +OrientedPoint Optimizer::gradientDescent(const RangeReading& reading, const OrientedPoint& pose, OLocalMap& lmap){ + OrientedPoint bestPose=pose; + double bestScore=likelihood(lmap, reading, bestPose, params.maxRange); + int it=0; + double lstep=params.linearStep, astep=params.angularStep; + bool increase; +/* cerr << "bestScore=" << bestScore << endl;;*/ + do { + increase=false; + OrientedPoint itBestPose=bestPose; + double itBestScore=bestScore; + bool itIncrease; + do { + itIncrease=false; + OrientedPoint testBestPose=itBestPose; + double testBestScore=itBestScore; + for (Move move=Forward; move<=TurnLeft; move=(Move)((int)move+1)){ + OrientedPoint testPose=itBestPose; + switch(move){ + case Forward: testPose.x+=lstep; + break; + case Backward: testPose.x-=lstep; + break; + case Left: testPose.y+=lstep; + break; + case Right: testPose.y-=lstep; + break; + case TurnRight: testPose.theta-=astep; + break; + case TurnLeft: testPose.theta+=astep; + break; + } + double score=likelihood(lmap, reading, testPose, params.maxRange); + if (score>testBestScore){ + testBestScore=score; + testBestPose=testPose; + } + } + if (testBestScore > itBestScore){ + itBestScore=testBestScore; + itBestPose=testBestPose; +/* cerr << "s=" << itBestScore << " ";*/ + itIncrease=true; + } + } while(itIncrease); + if (itBestScore > bestScore){ +/* cerr << "S(" << itBestScore << "," << bestScore<< ")";*/ + bestScore=itBestScore; + bestPose=itBestPose; + increase=true; + } else { + it++; + lstep*=0.5; + astep*=0.5; + } + } while (it +#include + +#include + +namespace GMapping{ + +template +class OrientedBoundingBox { + + public: + OrientedBoundingBox(std::vector< point > p); + double area(); + + protected: + Point ul; + Point ur; + Point ll; + Point lr; +}; + +#include "gmapping/utils/orientedboundingbox.hxx" + +};// end namespace + +#endif + diff --git a/src/openslam_gmapping/include/gmapping/utils/orientedboundingbox.hxx b/src/openslam_gmapping/include/gmapping/utils/orientedboundingbox.hxx new file mode 100644 index 0000000..2b66e6b --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/orientedboundingbox.hxx @@ -0,0 +1,116 @@ +template +double OrientedBoundingBox::area() { + return sqrt((ul.x - ll.x)*(ul.x - ll.x) + (ul.y - ll.y)*(ul.y - ll.y)) * + sqrt((ul.x - ur.x)*(ul.x - ur.x) + (ul.y - ur.y)*(ul.y - ur.y)) ; +} + +template +OrientedBoundingBox::OrientedBoundingBox(std::vector< point > p) { + + int nOfPoints = (int) p.size(); + + // calculate the center of all points (schwerpunkt) + // ------------------------------------------------- + double centerx = 0; + double centery = 0; + for (int i=0; i < nOfPoints; i++) { + centerx += p[i].x; + centery += p[i].y; + } + centerx /= (double) nOfPoints; + centery /= (double) nOfPoints; + + + + // calcutae the covariance matrix + // ------------------------------- + // covariance matrix (x1 x2, x3 x4) + double x1 = 0.0; + double x2 = 0.0; + double x3 = 0.0; + double x4 = 0.0; + + for (int i=0; i < nOfPoints; i++) { + double cix = p[i].x - centerx; + double ciy = p[i].y - centery; + + x1 += cix*cix; + x2 += cix*ciy; + x4 += ciy*ciy; + } + x1 /= (double) nOfPoints; + x2 /= (double) nOfPoints; + x3 = x2; + x4 /= (double) nOfPoints; + // covariance & center done + + + // calculate the eigenvectors + // --------------------------- + // catch 1/0 or sqrt(<0) + if ((x3 == 0) || (x2 == 0)|| (x4*x4-2*x1*x4+x1*x1+4*x2*x3 < 0 )) { + fprintf(stderr,"error computing the Eigenvectors (%s, line %d)\nx3=%lf, x2=%lf, term=%lf\n\n", + __FILE__, __LINE__, x3,x2, (x4*x4-2*x1*x4+x1*x1+4*x2*x3) ); + + ul.x = 0; + ul.y = 0; + ur.x = 0; + ur.y = 0; + ll.x = 0; + ll.y = 0; + lr.x = 0; + lr.y = 0; + } + + // eigenvalues + double lamda1 = 0.5* (x4 + x1 + sqrt(x4*x4 - 2.0*x1*x4 + x1*x1 + 4.0*x2*x3)); + double lamda2 = 0.5* (x4 + x1 - sqrt(x4*x4 - 2.0*x1*x4 + x1*x1 + 4.0*x2*x3)); + + // eigenvector 1 with (x,y) + double v1x = - (x4-lamda1) * (x4-lamda1) * (x1-lamda1) / (x2 * x3 * x3); + double v1y = (x4-lamda1) * (x1-lamda1) / (x2 * x3); + // eigenvector 2 with (x,y) + double v2x = - (x4-lamda2) * (x4-lamda2) * (x1-lamda2) / (x2 * x3 * x3); + double v2y = (x4-lamda2) * (x1-lamda2) / (x2 * x3); + + // norm the eigenvectors + double lv1 = sqrt ( (v1x*v1x) + (v1y*v1y) ); + double lv2 = sqrt ( (v2x*v2x) + (v2y*v2y) ); + v1x /= lv1; + v1y /= lv1; + v2x /= lv2; + v2y /= lv2; + // eigenvectors done + + // get the points with maximal dot-product + double x = 0.0; + double y = 0.0; + double xmin = 1e20; + double xmax = -1e20; + double ymin = 1e20; + double ymax = -1e20; + for(int i = 0; i< nOfPoints; i++) { + // dot-product of relativ coordinates of every point + x = (p[i].x - centerx) * v1x + (p[i].y - centery) * v1y; + y = (p[i].x - centerx) * v2x + (p[i].y - centery) * v2y; + + if( x > xmax) xmax = x; + if( x < xmin) xmin = x; + if( y > ymax) ymax = y; + if( y < ymin) ymin = y; + } + + // now we can compute the corners of the bounding box + ul.x = centerx + xmin * v1x + ymin * v2x; + ul.y = centery + xmin * v1y + ymin * v2y; + + ur.x = centerx + xmax * v1x + ymin * v2x; + ur.y = centery + xmax * v1y + ymin * v2y; + + ll.x = centerx + xmin * v1x + ymax * v2x; + ll.y = centery + xmin * v1y + ymax * v2y; + + lr.x = centerx + xmax * v1x + ymax * v2x; + lr.y = centery + xmax * v1y + ymax * v2y; + +} diff --git a/src/openslam_gmapping/include/gmapping/utils/point.h b/src/openslam_gmapping/include/gmapping/utils/point.h new file mode 100644 index 0000000..26db185 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/point.h @@ -0,0 +1,207 @@ +#ifndef _POINT_H_ +#define _POINT_H_ +#include +#include +#include +#include "gmapping/utils/gvalues.h" + +#define DEBUG_STREAM cerr << __func__ << ":" //FIXME + +namespace GMapping { + +template +struct point{ + inline point():x(0),y(0) {} + inline point(T _x, T _y):x(_x),y(_y){} + T x, y; +}; + +template +inline point operator+(const point& p1, const point& p2){ + return point(p1.x+p2.x, p1.y+p2.y); +} + +template +inline point operator - (const point & p1, const point & p2){ + return point(p1.x-p2.x, p1.y-p2.y); +} + +template +inline point operator * (const point& p, const T& v){ + return point(p.x*v, p.y*v); +} + +template +inline point operator * (const T& v, const point& p){ + return point(p.x*v, p.y*v); +} + +template +inline T operator * (const point& p1, const point& p2){ + return p1.x*p2.x+p1.y*p2.y; +} + + +template +struct orientedpoint: public point{ + inline orientedpoint() : point(0,0), theta(0) {}; + inline orientedpoint(const point& p); + inline orientedpoint(T x, T y, A _theta): point(x,y), theta(_theta){} + inline void normalize(); + inline orientedpoint rotate(A alpha){ + T s=sin(alpha), c=cos(alpha); + A a=alpha+theta; + a=atan2(sin(a),cos(a)); + return orientedpoint( + c*this->x-s*this->y, + s*this->x+c*this->y, + a); + } + A theta; +}; + + +template +void orientedpoint::normalize() { + if (theta >= -M_PI && theta < M_PI) + return; + + int multiplier = (int)(theta / (2*M_PI)); + theta = theta - multiplier*2*M_PI; + if (theta >= M_PI) + theta -= 2*M_PI; + if (theta < -M_PI) + theta += 2*M_PI; +} + + +template +orientedpoint::orientedpoint(const point& p){ + this->x=p.x; + this->y=p.y; + this->theta=0.; +} + + +template +orientedpoint operator+(const orientedpoint& p1, const orientedpoint& p2){ + return orientedpoint(p1.x+p2.x, p1.y+p2.y, p1.theta+p2.theta); +} + +template +orientedpoint operator - (const orientedpoint & p1, const orientedpoint & p2){ + return orientedpoint(p1.x-p2.x, p1.y-p2.y, p1.theta-p2.theta); +} + +template +orientedpoint operator * (const orientedpoint& p, const T& v){ + return orientedpoint(p.x*v, p.y*v, p.theta*v); +} + +template +orientedpoint operator * (const T& v, const orientedpoint& p){ + return orientedpoint(p.x*v, p.y*v, p.theta*v); +} + +template +orientedpoint absoluteDifference(const orientedpoint& p1,const orientedpoint& p2){ + orientedpoint delta=p1-p2; + delta.theta=atan2(sin(delta.theta), cos(delta.theta)); + double s=sin(p2.theta), c=cos(p2.theta); + return orientedpoint(c*delta.x+s*delta.y, + -s*delta.x+c*delta.y, delta.theta); +} + +template +orientedpoint absoluteSum(const orientedpoint& p1,const orientedpoint& p2){ + double s=sin(p1.theta), c=cos(p1.theta); + return orientedpoint(c*p2.x-s*p2.y, + s*p2.x+c*p2.y, p2.theta) + p1; +} + +template +point absoluteSum(const orientedpoint& p1,const point& p2){ + double s=sin(p1.theta), c=cos(p1.theta); + return point(c*p2.x-s*p2.y, s*p2.x+c*p2.y) + (point) p1; +} + +template +struct pointcomparator{ + bool operator ()(const point& a, const point& b) const { + return a.x +struct pointradialcomparator{ + point origin; + bool operator ()(const point& a, const point& b) const { + point delta1=a-origin; + point delta2=b-origin; + return (atan2(delta1.y,delta1.x) +inline point max(const point& p1, const point& p2){ + point p=p1; + p.x=p.x>p2.x?p.x:p2.x; + p.y=p.y>p2.y?p.y:p2.y; + return p; +} + +template +inline point min(const point& p1, const point& p2){ + point p=p1; + p.x=p.x +inline point interpolate(const point& p1, const F& t1, const point& p2, const F& t2, const F& t3){ + F gain=(t3-t1)/(t2-t1); + point p=p1+(p2-p1)*gain; + return p; +} + +template +inline orientedpoint +interpolate(const orientedpoint& p1, const F& t1, const orientedpoint& p2, const F& t2, const F& t3){ + F gain=(t3-t1)/(t2-t1); + orientedpoint p; + p.x=p1.x+(p2.x-p1.x)*gain; + p.y=p1.y+(p2.y-p1.y)*gain; + double s=sin(p1.theta)+sin(p2.theta)*gain, + c=cos(p1.theta)+cos(p2.theta)*gain; + p.theta=atan2(s,c); + return p; +} + + +template +inline double euclidianDist(const point& p1, const point& p2){ + return hypot(p1.x-p2.x, p1.y-p2.y); +} +template +inline double euclidianDist(const orientedpoint& p1, const orientedpoint& p2){ + return hypot(p1.x-p2.x, p1.y-p2.y); +} +template +inline double euclidianDist(const orientedpoint& p1, const point& p2){ + return hypot(p1.x-p2.x, p1.y-p2.y); +} +template +inline double euclidianDist(const point& p1, const orientedpoint& p2 ){ + return hypot(p1.x-p2.x, p1.y-p2.y); +} + + + +typedef point IntPoint; +typedef point Point; +typedef orientedpoint OrientedPoint; + +}; //end namespace + +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/printmemusage.h b/src/openslam_gmapping/include/gmapping/utils/printmemusage.h new file mode 100644 index 0000000..ed61adf --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/printmemusage.h @@ -0,0 +1,16 @@ +#ifndef PRINTMEMUSAGE_H +#define PRINTMEMUSAGE_H +#include +#ifndef _WIN32 + #include +#endif +#include +#include +#include +#include + +namespace GMapping{ + void UTILS_EXPORT printmemusage(); +}; + +#endif diff --git a/src/openslam_gmapping/include/gmapping/utils/printpgm.h b/src/openslam_gmapping/include/gmapping/utils/printpgm.h new file mode 100644 index 0000000..2774909 --- /dev/null +++ b/src/openslam_gmapping/include/gmapping/utils/printpgm.h @@ -0,0 +1,21 @@ +#include +#include +#include +#ifndef _WIN32 + #include +#endif + + +using namespace std; +ostream& printpgm(ostream& os, int xsize, int ysize, const double * const * matrix){ + if (!os) + return os; + os<< "P5" << endl << xsize << endl << ysize << endl << 255 << endl; + for (int y=ysize-1; y>=0; y--){ + for (int x=0;x +#include "gmapping/utils/gvalues.h" +#include + +namespace GMapping { + +/**stupid utility function for drawing particles form a zero mean, sigma variance normal distribution +probably it should not go there*/ +double UTILS_EXPORT sampleGaussian(double sigma,unsigned long int S=0); + +double UTILS_EXPORT evalGaussian(double sigmaSquare, double delta); +double UTILS_EXPORT evalLogGaussian(double sigmaSquare, double delta); +int UTILS_EXPORT sampleUniformInt(int max); +double UTILS_EXPORT sampleUniformDouble(double min, double max); + +struct Covariance3{ + Covariance3 operator + (const Covariance3 & cov) const; + static Covariance3 zero; + double xx, yy, tt, xy, xt, yt; +}; + +struct EigenCovariance3{ + EigenCovariance3(); + EigenCovariance3(const Covariance3& c); + EigenCovariance3 rotate(double angle) const; + OrientedPoint sample() const; + double eval[3]; + double evec[3][3]; +}; + +struct Gaussian3{ + OrientedPoint mean; + EigenCovariance3 covariance; + Covariance3 cov; + double UTILS_EXPORT eval(const OrientedPoint& p) const; + void computeFromSamples(const std::vector & poses); + void computeFromSamples(const std::vector & poses, const std::vector& weights ); +}; + +template +Gaussian3 computeGaussianFromSamples(PointIterator& pointBegin, PointIterator& pointEnd, WeightIterator& weightBegin, WeightIterator& weightEnd){ + Gaussian3 gaussian; + OrientedPoint mean=OrientedPoint(0,0,0); + double wcum=0; + double s=0, c=0; + WeightIterator wt=weightBegin; + double *w=new double(); + OrientedPoint *p=new OrientedPoint(); + for (PointIterator pt=pointBegin; pt!=pointEnd; pt++){ + *w=*wt; + *p=*pt; + s+=*w*sin(p->theta); + c+=*w*cos(p->theta); + mean.x+=*w*p->x; + mean.y+=*w*p->y; + wcum+=*w; + wt++; + } + mean.x/=wcum; + mean.y/=wcum; + s/=wcum; + c/=wcum; + mean.theta=atan2(s,c); + + Covariance3 cov=Covariance3::zero; + wt=weightBegin; + for (PointIterator pt=pointBegin; pt!=pointEnd; pt++){ + *w=*wt; + *p=*pt; + OrientedPoint delta=(*p)-mean; + delta.theta=atan2(sin(delta.theta),cos(delta.theta)); + cov.xx+=*w*delta.x*delta.x; + cov.yy+=*w*delta.y*delta.y; + cov.tt+=*w*delta.theta*delta.theta; + cov.xy+=*w*delta.x*delta.y; + cov.yt+=*w*delta.y*delta.theta; + cov.xt+=*w*delta.x*delta.theta; + wt++; + } + cov.xx/=wcum; + cov.yy/=wcum; + cov.tt/=wcum; + cov.xy/=wcum; + cov.yt/=wcum; + cov.xt/=wcum; + EigenCovariance3 ecov(cov); + gaussian.mean=mean; + gaussian.covariance=ecov; + gaussian.cov=cov; + delete w; + delete p; + return gaussian; +} + +template +Gaussian3 computeGaussianFromSamples(PointIterator& pointBegin, PointIterator& pointEnd){ + Gaussian3 gaussian; + OrientedPoint mean=OrientedPoint(0,0,0); + double wcum=1; + double s=0, c=0; + OrientedPoint *p=new OrientedPoint(); + for (PointIterator pt=pointBegin; pt!=pointEnd; pt++){ + *p=*pt; + s+=sin(p->theta); + c+=cos(p->theta); + mean.x+=p->x; + mean.y+=p->y; + wcum+=1.; + } + mean.x/=wcum; + mean.y/=wcum; + s/=wcum; + c/=wcum; + mean.theta=atan2(s,c); + + Covariance3 cov=Covariance3::zero; + for (PointIterator pt=pointBegin; pt!=pointEnd; pt++){ + *p=*pt; + OrientedPoint delta=(*p)-mean; + delta.theta=atan2(sin(delta.theta),cos(delta.theta)); + cov.xx+=delta.x*delta.x; + cov.yy+=delta.y*delta.y; + cov.tt+=delta.theta*delta.theta; + cov.xy+=delta.x*delta.y; + cov.yt+=delta.y*delta.theta; + cov.xt+=delta.x*delta.theta; + } + cov.xx/=wcum; + cov.yy/=wcum; + cov.tt/=wcum; + cov.xy/=wcum; + cov.yt/=wcum; + cov.xt/=wcum; + EigenCovariance3 ecov(cov); + gaussian.mean=mean; + gaussian.covariance=ecov; + gaussian.cov=cov; + delete p; + return gaussian; +} + + +}; //end namespace +#endif + diff --git a/src/openslam_gmapping/ini/gfs-LMS-10cm.ini b/src/openslam_gmapping/ini/gfs-LMS-10cm.ini new file mode 100644 index 0000000..544bf78 --- /dev/null +++ b/src/openslam_gmapping/ini/gfs-LMS-10cm.ini @@ -0,0 +1,78 @@ +### gfs dummy config file + +## WARNING: Changing these parameters, can +## increase of decrese the performance of the +## mapper! + + +[gfs] + +################################################# +## +## These are probably the most improtant parameters +## + +## gfs - number of particles +particles 30 + +## gfs measurement integration +angularUpdate 0.5 +linearUpdate 1 + +## map resolution +delta 0.1 + +## scan matcher +maxrange 81.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m +maxUrange 80.0 # (use up to) +sigma 0.05 # scan matcher cell sigma, for the greedy search +regscore 0.0004 # minimum score for regsistering a scan +iterations 5 # iterations +critscore 0.0 # critical score (leave this) +maxMove 1.0 # maximum move among two scans. This detects some corrupted logs +autosize off # determine te map size by pre readoing the log + + +## default settings for a 0.1 m map cell +lstep 0.1 # linear search step (choose delta) +astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval +lsigma 0.075 # sigma likelihood of 1 beam +lskip 0 # beams to skip in the likelihood computation +skipMatching off # do not perform scan matching before computing the statistics + +kernelSize 1 # the higher the value the slower the filter + # the better it can deal with noise, but the less precise and slower +ogain 3 # gain for smoothing the likelihood +resampleThreshold 0.5 # when neff is below this value a resampling occurs +randseed 0 # this is for the repeated experiments + +## likelihood sampling +llsamplerange 0.1 # linear range +llsamplestep 0.1 # linear step +lasamplerange 0.05 # angular range +lasamplestep 0.05 # angular step + +## motion model parameters +srr 0.1 # translation as a function of translation +srt 0.1 # translation as a function of rotation +str 0.1 # rotation as a function of translation +stt 0.1 # rotation as a function of rotation + +## odometry integration in proposal +linearOdometryReliability 0.0 +angularOdometryReliability 0.0 +considerOdometryCovariance off + + +## inital map params +xmin -100.0 +ymin -100.0 +xmax 100.0 +ymax 100.0 + +## file parameters + +readFromStdin off +onLine off +generateMap off + diff --git a/src/openslam_gmapping/ini/gfs-LMS-20cm.ini b/src/openslam_gmapping/ini/gfs-LMS-20cm.ini new file mode 100644 index 0000000..e0962ce --- /dev/null +++ b/src/openslam_gmapping/ini/gfs-LMS-20cm.ini @@ -0,0 +1,76 @@ +### gfs dummy config file + +## WARNING: Changing these parameters, can +## increase of decrese the performance of the +## mapper! + + +[gfs] + +################################################# +## +## These are probably the most improtant parameters +## + +## gfs - number of particles +particles 30 + +## gfs measurement integration +angularUpdate 0.5 +linearUpdate 1 + +## map resolution +delta 0.2 +## scan matcher +maxrange 80 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m +maxUrange 80 # (use up to) +sigma 0.05 # scan matcher cell sigma, for the greedy search +regscore 10000 # minimum score for regsistering a scan +iterations 5 # iterations +critscore 0.0 # critical score (leave this) +maxMove 1.0 # maximum move among two scans. This detects some corrupted logs +autosize off # determine te map size by pre readoing the log + + +lstep 0.2 # linear search step (choose delta) +astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval +lsigma 0.2 # sigma likelihood of 1 beam +lskip 1. # beams to skip in the likelihood computation +skipMatching off # do not perform scan matching before computing the statistics + +kernelSize 1 # the higher the value the slower the filter + # the better it can deal with noise, but the less precise and slower +ogain 3 # gain for smoothing the likelihood +resampleThreshold 0.5 # when neff is below this value a resampling occurs +randseed 0 # this is for the repeated experiments + +## likelihood sampling +llsamplerange 0.2 # linear range +llsamplestep 0.2 # linear step +lasamplerange 0.05 # angular range +lasamplestep 0.05 # angular step + +## motion model parameters +srr 0.1 # translation as a function of translation +srt 0.1 # translation as a function of rotation +str 0.1 # rotation as a function of translation +stt 0.1 # rotation as a function of rotation + +## odometry integration in proposal +linearOdometryReliability 0.0 +angularOdometryReliability 0.0 +considerOdometryCovariance off + + +## inital map params +xmin -150.0 +ymin -100.0 +xmax 100.0 +ymax 100.0 + +## file parameters + +readFromStdin off +onLine off +generateMap off + diff --git a/src/openslam_gmapping/ini/gfs-LMS-5cm.ini b/src/openslam_gmapping/ini/gfs-LMS-5cm.ini new file mode 100644 index 0000000..c54fa02 --- /dev/null +++ b/src/openslam_gmapping/ini/gfs-LMS-5cm.ini @@ -0,0 +1,78 @@ +### gfs dummy config file + +## WARNING: Changing these parameters, can +## increase of decrese the performance of the +## mapper! + + +[gfs] + +################################################# +## +## These are probably the most improtant parameters +## + +## gfs - number of particles +particles 30 + +## gfs measurement integration +angularUpdate 0.5 +linearUpdate 1 + +## map resolution +delta 0.05 + +## scan matcher +maxrange 81.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m +maxUrange 80.0 # (use up to) +sigma 0.05 # scan matcher cell sigma, for the greedy search +regscore 0.0004 # minimum score for regsistering a scan +iterations 5 # iterations +critscore 0.0 # critical score (leave this) +maxMove 1.0 # maximum move among two scans. This detects some corrupted logs +autosize off # determine te map size by pre readoing the log + + +## default settings for a 0.1 m map cell +lstep 0.05 # linear search step (choose delta) +astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval +lsigma 0.05 # sigma likelihood of 1 beam +lskip 0 # beams to skip in the likelihood computation +skipMatching off # do not perform scan matching before computing the statistics + +kernelSize 1 # the higher the value the slower the filter + # the better it can deal with noise, but the less precise and slower +ogain 3 # gain for smoothing the likelihood +resampleThreshold 0.5 # when neff is below this value a resampling occurs +randseed 0 # this is for the repeated experiments + +## likelihood sampling +llsamplerange 0.05 # linear range +llsamplestep 0.05 # linear step +lasamplerange 0.05 # angular range +lasamplestep 0.05 # angular step + +## motion model parameters +srr 0.1 # translation as a function of translation +srt 0.1 # translation as a function of rotation +str 0.1 # rotation as a function of translation +stt 0.1 # rotation as a function of rotation + +## odometry integration in proposal +linearOdometryReliability 0.0 +angularOdometryReliability 0.0 +considerOdometryCovariance off + + +## inital map params +xmin -100.0 +ymin -100.0 +xmax 100.0 +ymax 100.0 + +## file parameters + +readFromStdin off +onLine off +generateMap off + diff --git a/src/openslam_gmapping/ini/gfs-PLS-10cm.ini b/src/openslam_gmapping/ini/gfs-PLS-10cm.ini new file mode 100644 index 0000000..1e6fb34 --- /dev/null +++ b/src/openslam_gmapping/ini/gfs-PLS-10cm.ini @@ -0,0 +1,78 @@ +### gfs dummy config file + +## WARNING: Changing these parameters, can +## increase of decrese the performance of the +## mapper! + + +[gfs] + +################################################# +## +## These are probably the most improtant parameters +## + +## gfs - number of particles +particles 30 + +## gfs measurement integration +angularUpdate 0.5 +linearUpdate 1 + +## map resolution +delta 0.1 + +## scan matcher +maxrange 50.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m +maxUrange 50.0 # (use up to) +sigma 0.075 # scan matcher cell sigma, for the greedy search +regscore 0.0004 # minimum score for regsistering a scan +iterations 5 # iterations +critscore 0.0 # critical score (leave this) +maxMove 1.0 # maximum move among two scans. This detects some corrupted logs +autosize off # determine te map size by pre readoing the log + + +## default settings for a 0.1 m map cell +lstep 0.1 # linear search step (choose delta) +astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval +lsigma 0.1 # sigma likelihood of 1 beam +lskip 0 # beams to skip in the likelihood computation +skipMatching off # do not perform scan matching before computing the statistics + +kernelSize 1 # the higher the value the slower the filter + # the better it can deal with noise, but the less precise and slower +ogain 3 # gain for smoothing the likelihood +resampleThreshold 0.5 # when neff is below this value a resampling occurs +randseed 0 # this is for the repeated experiments + +## likelihood sampling +llsamplerange 0.1 # linear range +llsamplestep 0.1 # linear step +lasamplerange 0.05 # angular range +lasamplestep 0.05 # angular step + +## motion model parameters +srr 0.1 # translation as a function of translation +srt 0.1 # translation as a function of rotation +str 0.1 # rotation as a function of translation +stt 0.1 # rotation as a function of rotation + +## odometry integration in proposal +linearOdometryReliability 0.0 # condition the scan matcher with odometry while serching for max [translation component] +angularOdometryReliability 0.0 # condition the scan matcher with odometry while serching for max [rotation component] +considerOdometryCovariance off + + +## inital map params +xmin -100.0 +ymin -100.0 +xmax 100.0 +ymax 100.0 + +## file parameters + +readFromStdin off +onLine off +generateMap off + diff --git a/src/openslam_gmapping/ini/gfs-PLS-5cm.ini b/src/openslam_gmapping/ini/gfs-PLS-5cm.ini new file mode 100644 index 0000000..871dcc5 --- /dev/null +++ b/src/openslam_gmapping/ini/gfs-PLS-5cm.ini @@ -0,0 +1,78 @@ +### gfs dummy config file + +## WARNING: Changing these parameters, can +## increase of decrese the performance of the +## mapper! + + +[gfs] + +################################################# +## +## These are probably the most improtant parameters +## + +## gfs - number of particles +particles 30 + +## gfs measurement integration +angularUpdate 0.5 +linearUpdate 1 + +## map resolution +delta 0.05 + +## scan matcher +maxrange 50.0 # (maximum valid) for SICK LMS, 81m max, SICK PLS 50m +maxUrange 50.0 # (use up to) +sigma 0.07 # scan matcher cell sigma, for the greedy search +regscore 0.0004 # minimum score for regsistering a scan +iterations 5 # iterations +critscore 0.0 # critical score (leave this) +maxMove 1.0 # maximum move among two scans. This detects some corrupted logs +autosize off # determine te map size by pre readoing the log + + +## default settings for a 0.1 m map cell +lstep 0.05 # linear search step (choose delta) +astep 0.05 # angular search step, this is fine, depending on the odometry error and the update interval +lsigma 0.05 # sigma likelihood of 1 beam +lskip 0 # beams to skip in the likelihood computation +skipMatching off # do not perform scan matching before computing the statistics + +kernelSize 1 # the higher the value the slower the filter + # the better it can deal with noise, but the less precise and slower +ogain 3 # gain for smoothing the likelihood +resampleThreshold 0.5 # when neff is below this value a resampling occurs +randseed 0 # this is for the repeated experiments + +## likelihood sampling +llsamplerange 0.05 # linear range +llsamplestep 0.05 # linear step +lasamplerange 0.05 # angular range +lasamplestep 0.05 # angular step + +## motion model parameters +srr 0.1 # translation as a function of translation +srt 0.1 # translation as a function of rotation +str 0.1 # rotation as a function of translation +stt 0.1 # rotation as a function of rotation + +## odometry integration in proposal +linearOdometryReliability 0.0 +angularOdometryReliability 0.0 +considerOdometryCovariance off + + +## inital map params +xmin -100.0 +ymin -100.0 +xmax 100.0 +ymax 100.0 + +## file parameters + +readFromStdin off +onLine off +generateMap off + diff --git a/src/openslam_gmapping/log/Makefile b/src/openslam_gmapping/log/Makefile new file mode 100644 index 0000000..02a0515 --- /dev/null +++ b/src/openslam_gmapping/log/Makefile @@ -0,0 +1,9 @@ +OBJS= configuration.o carmenconfiguration.o sensorlog.o sensorstream.o +APPS= log_test log_plot scanstudio2carmen rdk2carmen + +LDFLAGS+= -lsensor_range -lsensor_odometry -lsensor_base +CPPFLAGS+= -I../sensor + +-include ../global.mk +-include ../build_tools/Makefile.generic-shared-object + diff --git a/src/openslam_gmapping/log/carmenconfiguration.cpp b/src/openslam_gmapping/log/carmenconfiguration.cpp new file mode 100644 index 0000000..9061da8 --- /dev/null +++ b/src/openslam_gmapping/log/carmenconfiguration.cpp @@ -0,0 +1,463 @@ +#include +#include "gmapping/log/carmenconfiguration.h" +#include +#include +#include +#include +#include +#include + + +#define LINEBUFFER_SIZE 10000 + +namespace GMapping { + +using namespace std; + +istream& CarmenConfiguration::load(istream& is){ + clear(); + char buf[LINEBUFFER_SIZE]; + bool laseron=false; + bool rlaseron=false; + bool rlaser1=false; + bool rlaser2=false; + + string beams; + string rbeams; + + while (is){ + is.getline(buf, LINEBUFFER_SIZE); + istringstream lis(buf); + + string qualifier; + string name; + + if (lis) + lis >> qualifier; + else + continue; + //this is a workaround for carmen log files + //the number lf laser beams should be specofoed in the config + //part of the log + if (qualifier=="FLASER"){ + laseron=true; + lis >> beams; + } + if (qualifier=="RLASER"){ + rlaseron=true; + lis >> rbeams; + } + if (qualifier=="ROBOTLASER1"){ + string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode; + lis >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy>> remission_mode>> beams; + rlaser1=true; + } + if (qualifier=="ROBOTLASER2"){ + string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode; + lis >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy>> remission_mode>> rbeams; + rlaser2=true; + } + if (qualifier!="PARAM") + continue; + if (lis) + lis >> name; + else continue; + + + vector v; + while (lis){ + string cparm; + lis >> cparm; + if (lis) + v.push_back(cparm); + } + insert(make_pair(name, v)); + } + if (laseron || rlaser1){ + vector v; + v.push_back(beams); + insert(make_pair("laser_beams", v)); + cerr << "FRONT LASER BEAMS FROM LOG: " << beams << endl; + v.clear(); + v.push_back("on"); + insert(make_pair("robot_use_laser", v)); + } + if (rlaseron || rlaser2){ + vector v; + v.push_back(rbeams); + insert(make_pair("rear_laser_beams", v)); + cerr << "REAR LASER BEAMS FROM LOG: " << beams << endl; + v.clear(); + v.push_back("on"); + insert(make_pair("robot_use_rear_laser", v)); + } + return is; +} + +SensorMap CarmenConfiguration::computeSensorMap() const{ + //this boring stuff is for retrieving the parameters from the loaded tokens + + SensorMap smap; + //odometry + OdometrySensor* odometry=new OdometrySensor("ODOM"); + OdometrySensor* truepos=new OdometrySensor("TRUEPOS", true); + + smap.insert(make_pair(odometry->getName(), odometry)); + smap.insert(make_pair(truepos->getName(), truepos)); + //sonars + const_iterator key=find("robot_use_sonar"); + if (key!=end() && key->second.front()=="on"){ + RangeSensor* sonar=new RangeSensor("SONAR"); + + //the center of the sonar is the center of the base + sonar->m_pose.x=sonar->m_pose.y=sonar->m_pose.theta=0; + + double maxrange=10.; + key=find("robot_max_sonar"); + if (key!=end()){ + maxrange=atof(key->second.front().c_str()); + cerr << "max sonar:" << maxrange << endl; + } + + unsigned int sonar_num=0; + key=find("robot_num_sonars"); + if (key!=end()){ + sonar_num=atoi(key->second.front().c_str()); + cerr << "robot_num_sonars" << sonar_num << endl; + } + + key=find("robot_sonar_offsets"); + if (key!=end()){ + const vector & soff=key->second; + + if( (soff.size()/3m_beams.push_back(beam); + cerr << "beam_x" << beam.pose.x; + cerr << " beam_y" << beam.pose.y; + cerr << " beam_theta" << beam.pose.theta << endl;; + } + } + sonar->updateBeamsLookup(); + smap.insert(make_pair(sonar->getName(), sonar)); + } + + //laser + key=find("robot_use_laser"); + + if (key!=end() && key->second.front()=="on"){ + RangeSensor* laser=new RangeSensor("FLASER"); + laser->newFormat=false; + //by default the center of the robot is the center of the laser + laser->m_pose.x=laser->m_pose.y=laser->m_pose.theta=0; + key=find("robot_frontlaser_offset"); + if (key!=end()){ + laser->m_pose.x=atof(key->second.front().c_str()); + cerr << "FRONT OFFSET= " << laser->m_pose.x << endl; + } + + + + RangeSensor::Beam beam; + + //double angle=-.5*M_PI; + unsigned int beam_no=180; + + key=find("laser_beams"); + if (key!=end()){ + beam_no=atoi(key->second.front().c_str()); + cerr << "FRONT BEAMS="<< beam_no << endl; + } + + double maxrange=50; + double resolution=1.; + + + if (beam_no==180 || beam_no==181) + resolution =1.; + else if (beam_no==360 || beam_no==361) + resolution =.5; + else if (beam_no==540 || beam_no==541) + resolution =.5; + else if (beam_no==769) { + resolution =360./1024.; + maxrange = 4.1; + } + else if (beam_no==682) { + resolution =360./1024.; + maxrange = 4.1; + } + else if (beam_no==683) { + resolution =360./1024.; + maxrange = 5.5; + } + else { + key=find("laser_front_laser_resolution"); + if (key!=end()){ + resolution=atof(key->second.front().c_str()); + cerr << "FRONT RES " << resolution << endl; + } + } + + laser->m_beams.resize(beam_no); + double center_beam=(double)beam_no/2.; + uint low_index=(uint)floor(center_beam); + uint up_index=(uint)ceil(center_beam); + double step=resolution*M_PI/180.; + double angle=beam_no%2?0:step; + unsigned int i=beam_no%2?0:1; + for (; im_beams[low_index-i]=beam; + beam.pose.theta=angle; + laser->m_beams[up_index+i-1]=beam; + } + laser->updateBeamsLookup(); + smap.insert(make_pair(laser->getName(), laser)); + cerr << "front beams " << beam_no << endl; + cerr << "maxrange " << maxrange << endl; + } + + + key=find("robot_use_laser"); + if (key!=end() && key->second.front()=="on"){ + RangeSensor* laser=new RangeSensor("ROBOTLASER1"); + laser->newFormat=true; + cerr << "ROBOTLASER1 inserted" << endl; + //by default the center of the robot is the center of the laser + laser->m_pose.x=laser->m_pose.y=laser->m_pose.theta=0; + key=find("robot_frontlaser_offset"); + if (key!=end()){ + laser->m_pose.x=atof(key->second.front().c_str()); + cerr << "FRONT OFFSET=" << laser->m_pose.x << endl; + } + + RangeSensor::Beam beam; + + //double angle=-.5*M_PI; + unsigned int beam_no=180; + + key=find("laser_beams"); + if (key!=end()){ + beam_no=atoi(key->second.front().c_str()); + cerr << "FRONT BEAMS="<< beam_no << endl; + } + + double maxrange=50; + double resolution=1.; + + + if (beam_no==180 || beam_no==181) + resolution =1.; + else if (beam_no==360 || beam_no==361) + resolution =.5; + else if (beam_no==540 || beam_no==541) + resolution =.5; + else if (beam_no==769) + resolution =360./1024.; + else if (beam_no==683) { + resolution =360./1024.; + maxrange=5.50; + } + else { + key=find("laser_front_laser_resolution"); + if (key!=end()){ + resolution=atof(key->second.front().c_str()); + cerr << "FRONT RES" << resolution << endl; + } + } + + laser->m_beams.resize(beam_no); + double center_beam=(double)beam_no/2.; + uint low_index=(uint)floor(center_beam); + uint up_index=(uint)ceil(center_beam); + double step=resolution*M_PI/180.; + double angle=beam_no%2?0:step; + unsigned int i=beam_no%2?0:1; + for (; im_beams[low_index-i]=beam; + beam.pose.theta=angle; + laser->m_beams[up_index+i-1]=beam; + } + laser->updateBeamsLookup(); + smap.insert(make_pair(laser->getName(), laser)); + cerr << "front beams" << beam_no << endl; + } + + + //vertical laser + key=find("robot_use_rear_laser"); + + if (key!=end() && key->second.front()=="on"){ + RangeSensor* laser=new RangeSensor("RLASER"); + + //by default the center of the robot is the center of the laser + laser->m_pose.x=laser->m_pose.y=laser->m_pose.theta=0; + laser->m_pose.theta=M_PI; + key=find("robot_rearlaser_offset"); + if (key!=end()){ + laser->m_pose.x=atof(key->second.front().c_str()); + cerr << "REAR OFFSET = " << laser->m_pose.x << endl; + } + + + + RangeSensor::Beam beam; + + //double angle=-.5*M_PI; + unsigned int beam_no=180; + + key=find("rear_laser_beams"); + if (key!=end()){ + beam_no=atoi(key->second.front().c_str()); + cerr << "REAR BEAMS="<< beam_no << endl; + } + + double maxrange=89; + double resolution=1.; + + + if (beam_no==180 || beam_no==181) + resolution =1.; + else if (beam_no==360 || beam_no==361) + resolution =.5; + else if (beam_no==540 || beam_no==541) + resolution =.5; + else if (beam_no==769) + resolution =360./1024.; + else { + key=find("laser_rear_laser_resolution"); + if (key!=end()){ + resolution=atof(key->second.front().c_str()); + cerr << "REAR RES" << resolution << endl; + } + } + + laser->m_beams.resize(beam_no); + double center_beam=(double)beam_no/2.; + uint low_index=(uint)floor(center_beam); + uint up_index=(uint)ceil(center_beam); + double step=resolution*M_PI/180.; + double angle=beam_no%2?0:step; + unsigned int i=beam_no%2?0:1; + for (; im_beams[low_index-i]=beam; + beam.pose.theta=angle; + laser->m_beams[up_index+i-1]=beam; + } + laser->updateBeamsLookup(); + smap.insert(make_pair(laser->getName(), laser)); + cerr<< "rear beams" << beam_no << endl; + } + + key=find("robot_use_rear_laser"); + if (key!=end() && key->second.front()=="on"){ + RangeSensor* laser=new RangeSensor("ROBOTLASER2"); + laser->newFormat=true; + cerr << "ROBOTLASER2 inserted" << endl; + //by default the center of the robot is the center of the laser + laser->m_pose.x=laser->m_pose.y=0; + laser->m_pose.theta=M_PI; + key=find("robot_rearlaser_offset"); + if (key!=end()){ + // laser->m_pose.x==atof(key->second.front().c_str()); + cerr << "REAR OFFSET not used" << laser->m_pose.x << endl; + } + + RangeSensor::Beam beam; + + //double angle=-.5*M_PI; + unsigned int beam_no=180; + + key=find("rear_laser_beams"); + if (key!=end()){ + beam_no=atoi(key->second.front().c_str()); + cerr << "REAR BEAMS="<< beam_no << endl; + } + + double maxrange=50; + double resolution=1.; + + + if (beam_no==180 || beam_no==181) + resolution =1.; + else if (beam_no==360 || beam_no==361) + resolution =.5; + else if (beam_no==540 || beam_no==541) + resolution =.5; + else if (beam_no==769) + resolution =360./1024.; + else { + key=find("laser_rear_laser_resolution"); + if (key!=end()){ + resolution=atof(key->second.front().c_str()); + cerr << "REAR RES" << resolution << endl; + } + } + + laser->m_beams.resize(beam_no); + double center_beam=(double)beam_no/2.; + uint low_index=(uint)floor(center_beam); + uint up_index=(uint)ceil(center_beam); + double step=resolution*M_PI/180.; + double angle=beam_no%2?0:step; + unsigned int i=beam_no%2?0:1; + for (; im_beams[low_index-i]=beam; + beam.pose.theta=angle; + laser->m_beams[up_index+i-1]=beam; + } + laser->updateBeamsLookup(); + smap.insert(make_pair(laser->getName(), laser)); + cerr << "rear beams" << beam_no << endl; + } + + + return smap; +} + +}; + diff --git a/src/openslam_gmapping/log/configuration.cpp b/src/openslam_gmapping/log/configuration.cpp new file mode 100644 index 0000000..a31d7fb --- /dev/null +++ b/src/openslam_gmapping/log/configuration.cpp @@ -0,0 +1,8 @@ +#include "gmapping/log/configuration.h" + +namespace GMapping { + +Configuration::~Configuration(){ +} + +}; diff --git a/src/openslam_gmapping/log/log_plot.cpp b/src/openslam_gmapping/log/log_plot.cpp new file mode 100644 index 0000000..e3a4cc4 --- /dev/null +++ b/src/openslam_gmapping/log/log_plot.cpp @@ -0,0 +1,71 @@ +#include +#include +#include +#include +#include +#include + + +using namespace std; +using namespace GMapping; + +int main(int argc, char ** argv){ + double maxrange=2.; + if (argc<2){ + cout << "usage log_plot | gnuplot" << endl; + exit (-1); + } + ifstream is(argv[1]); + if (! is){ + cout << "no file " << argv[1] << " found" << endl; + exit (-1); + } + CarmenConfiguration conf; + conf.load(is); + + SensorMap m=conf.computeSensorMap(); + + //for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++) + // cout << it->first << " " << it->second->getName() << endl; + + SensorLog log(m); + is.close(); + + ifstream ls(argv[1]); + log.load(ls); + ls.close(); + int count=0; + int frame=0; + cerr << "log size" << log.size() << endl; + for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){ + RangeReading* rr=dynamic_cast(*it); + if (rr){ + count++; + if (count%3) + continue; + std::vector points(rr->size()); + uint j=0; + for (uint i=0; isize(); i++){ + const RangeSensor * rs=dynamic_cast(rr->getSensor()); + double c=rs->beams()[i].c, s=rs->beams()[i].s; + double r=(*rr)[i]; + if (r>maxrange) + continue; + points[j++]=Point(r*c,r*s); + } + if (j){ + char buf[1024]; + sprintf(buf,"frame-%05d.gif",frame); + frame++; + cout << "set terminal gif" << endl; + cout << "set output \"" << buf << "\"" << endl; + cout << "set size ratio -1" << endl; + cout << "plot [-3:3][0:3] '-' w p ps 1" << endl; + for (uint i=0; i +#include +#include +#include +#include + + +using namespace std; +using namespace GMapping; + +int main(int argc, char ** argv){ + if (argc<2){ + cout << "usage log_test " << endl; + exit (-1); + } + ifstream is(argv[1]); + if (! is){ + cout << "no file " << argv[1] << " found" << endl; + exit (-1); + } + CarmenConfiguration conf; + conf.load(is); + + SensorMap m=conf.computeSensorMap(); + + //for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++) + // cout << it->first << " " << it->second->getName() << endl; + + SensorLog log(m); + is.close(); + + ifstream ls(argv[1]); + log.load(ls); + ls.close(); + cerr << "log size" << log.size() << endl; + for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){ + RangeReading* rr=dynamic_cast(*it); + if (rr){ + //cerr << rr->getSensor()->getName() << " "; + //cerr << rr->size()<< " "; + //for (RangeReading::const_iterator it=rr->begin(); it!=rr->end(); it++){ + // cerr << *it << " "; + //} + cout<< rr->getPose().x << " " << rr->getPose().y << " " << rr->getPose().theta << " " << rr->getTime() << endl; + } + } +} diff --git a/src/openslam_gmapping/log/rdk2carmen.cpp b/src/openslam_gmapping/log/rdk2carmen.cpp new file mode 100644 index 0000000..f25e8aa --- /dev/null +++ b/src/openslam_gmapping/log/rdk2carmen.cpp @@ -0,0 +1,58 @@ +#include +#include +#include +#include +#include + + +using namespace std; +using namespace GMapping; + +int main(int argc, char ** argv){ + if (argc<2){ + cerr << "usage "< " << endl; + cerr << "or "< for standard output" << endl; + exit (-1); + } + ifstream is(argv[1]); + if (! is){ + cerr << "no file " << argv[1] << " found" << endl; + exit (-1); + } + ostream *os; + if (argc<3) + os=&cout; + else{ + os=new ofstream(argv[2]); + if (! os){ + cerr << "no file " << argv[1] << " found" << endl; + exit (-1); + } + } + CarmenConfiguration conf; + conf.load(is); + + SensorMap m=conf.computeSensorMap(); + + //for (SensorMap::const_iterator it=m.begin(); it!=m.end(); it++) + // cout << it->first << " " << it->second->getName() << endl; + + SensorLog log(m); + is.close(); + + ifstream ls(argv[1]); + log.load(ls); + ls.close(); + cerr << "log size" << log.size() << endl; + for (SensorLog::iterator it=log.begin(); it!=log.end(); it++){ + RangeReading* rr=dynamic_cast(*it); + if (rr){ + *os << rr->getSensor()->getName() << " "; + *os << rr->size()<< " "; + for (RangeReading::const_iterator it=rr->begin(); it!=rr->end(); it++){ + *os << (*it)*0.001 << " "; + } + *os<< rr->getPose().x*0.001 << " " << rr->getPose().y*0.001 << " " << rr->getPose().theta << endl; + } + } +} diff --git a/src/openslam_gmapping/log/scanstudio2carmen.cpp b/src/openslam_gmapping/log/scanstudio2carmen.cpp new file mode 100644 index 0000000..0407983 --- /dev/null +++ b/src/openslam_gmapping/log/scanstudio2carmen.cpp @@ -0,0 +1,66 @@ +#include +#include +#include +#include +#include +#include + +#define MAXLINELENGHT (10240) +#define MAXREADINGS (10240) + +using namespace std; +using namespace GMapping; + +int main (int argc, char** argv){ + if (argc<3){ + cout << "usage scanstudio2carmen scanfilename carmenfilename" << endl; + exit(1); + } + ifstream is(argv[1]); + if (!is){ + cout << "cannopt open file" << argv[1] << endl; + exit(1); + } + + ofstream os(argv[2]); + + double readings[MAXREADINGS]; + OrientedPoint pose; + int nbeams; + while (is){ + char buf[MAXLINELENGHT]; + is.getline(buf,MAXLINELENGHT); + istringstream st(buf); + string token; + st>>token; + if (token=="RobotPos:"){ + st >> pose.x >> pose.y >> pose.theta; + pose.x/=1000; + pose.y/=1000; + } else + if (token=="NumPoints:"){ + st >> nbeams; + assert(nbeams> angle; + is >> readings[c]; + readings[c]/=1000; + c++; + } + if (c==nbeams) + os << "FLASER " << nbeams << " "; + c=0; + while (c +#include +#include +#include +#include + +#define LINEBUFFER_SIZE 100000 + +namespace GMapping { + +using namespace std; + +SensorLog::SensorLog(const SensorMap& sm): m_sensorMap(sm){ +} + +SensorLog::~SensorLog(){ + for (iterator it=begin(); it!=end(); it++) + if (*it) delete (*it); +} + +istream& SensorLog::load(istream& is){ + for (iterator it=begin(); it!=end(); it++) + if (*it) delete (*it); + clear(); + + char buf[LINEBUFFER_SIZE]; + while (is){ + is.getline(buf, LINEBUFFER_SIZE); + istringstream lis(buf); + + string sensorname; + + if (lis) + lis >>sensorname; + else + continue; + + + + SensorMap::const_iterator it=m_sensorMap.find(sensorname); + if (it==m_sensorMap.end()){ + continue; + } + + Sensor* sensor=it->second; + + SensorReading* reading=0; + OdometrySensor* odometry=dynamic_cast(sensor); + if (odometry) + reading=parseOdometry(lis, odometry); + + RangeSensor* range=dynamic_cast(sensor); + if (range) + reading=parseRange(lis, range); + if (reading) + push_back(reading); + } + return is; + +} + +OdometryReading* SensorLog::parseOdometry(istream& is, const OdometrySensor* osen) const{ + OdometryReading* reading=new OdometryReading(osen); + OrientedPoint pose; + OrientedPoint speed; + OrientedPoint accel; + is >> pose.x >> pose.y >> pose.theta; + is >> speed.x >>speed.theta; + speed.y=0; + is >> accel.x; + accel.y=accel.theta=0; + reading->setPose(pose); reading->setSpeed(speed); reading->setAcceleration(accel); + return reading; +} + +RangeReading* SensorLog::parseRange(istream& is, const RangeSensor* rs) const{ + if(rs->newFormat){ + string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode; + is >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy >> remission_mode; + } + + unsigned int size; + is >> size; + assert(size==rs->beams().size()); + + RangeReading* reading=new RangeReading(rs); + //cerr << "#R=" << size << endl; + reading->resize(size); + for (unsigned int i=0; i> (*reading)[i]; + } + if (rs->newFormat){ + int reflectionBeams; + is >> reflectionBeams; + double reflection; + for (int i=0; i> reflection; + } + //FIXME XXX + OrientedPoint laserPose; + is >> laserPose.x >> laserPose.y >> laserPose.theta; + OrientedPoint pose; + is >> pose.x >> pose.y >> pose.theta; + reading->setPose(pose); + double a,b,c; + if (rs->newFormat){ + string laser_tv, laser_rv, forward_safety_dist, side_safty_dist, turn_axis; + is >> laser_tv >> laser_rv >> forward_safety_dist >> side_safty_dist >> turn_axis; + } else { + is >> a >> b >> c; + } + string s; + is >> a >> s; + is >> a; + reading->setTime(a); + return reading; +} + +OrientedPoint SensorLog::boundingBox(double& xmin, double& ymin, double& xmax, double& ymax) const { + xmin=ymin=1e6; + xmax=ymax=-1e6; + bool first=true; + OrientedPoint start; + for (const_iterator it=begin(); it!=end(); it++){ + double lxmin=0., lxmax=0., lymin=0., lymax=0.; + const SensorReading* reading=*it; + const OdometryReading* odometry=dynamic_cast (reading); + if (odometry){ + lxmin=lxmax=odometry->getPose().x; + lymin=lymax=odometry->getPose().y; + } + + const RangeReading* rangeReading=dynamic_cast (reading); + if (rangeReading){ + lxmin=lxmax=rangeReading->getPose().x; + lymin=lymax=rangeReading->getPose().y; + if (first){ + first=false; + start=rangeReading->getPose(); + } + } + xmin=xminlxmax?xmax:lxmax; + ymin=yminlymax?ymax:lymax; + } + return start; +} + +}; + diff --git a/src/openslam_gmapping/log/sensorstream.cpp b/src/openslam_gmapping/log/sensorstream.cpp new file mode 100644 index 0000000..53c218e --- /dev/null +++ b/src/openslam_gmapping/log/sensorstream.cpp @@ -0,0 +1,155 @@ +#include +#include +#include "gmapping/log/sensorstream.h" +//#define LINEBUFFER_SIZE 1000000 //for not Cyrill to unbless me, it is better to exagerate :-)) +// Can't declare a buffer that big on the stack. So we'll risk Cyrill's +// unblessing, and make it smaller. +#define LINEBUFFER_SIZE 8192 + +namespace GMapping { + +using namespace std; + +//SensorStream +SensorStream::SensorStream(const SensorMap& sensorMap) :m_sensorMap(sensorMap){} + +SensorStream::~SensorStream(){} + +SensorReading* SensorStream::parseReading(std::istream& is, const SensorMap& smap){ + SensorReading* reading=0; + if (is){ + char buf[LINEBUFFER_SIZE]; + is.getline(buf, LINEBUFFER_SIZE); + istringstream lis(buf); + + string sensorname; + + if (lis){ + lis >>sensorname; + } else + return 0; + + SensorMap::const_iterator it=smap.find(sensorname); + if (it==smap.end()){ + return 0; + } + + Sensor* sensor=it->second; + + OdometrySensor* odometry=dynamic_cast(sensor); + if (odometry) + reading=parseOdometry(lis, odometry); + + RangeSensor* range=dynamic_cast(sensor); + if (range) + reading=parseRange(lis, range); + } + return reading; +} + +OdometryReading* SensorStream::parseOdometry(std::istream& is, const OdometrySensor* osen ){ + OdometryReading* reading=new OdometryReading(osen); + OrientedPoint pose; + OrientedPoint speed; + OrientedPoint accel; + is >> pose.x >> pose.y >> pose.theta; + is >> speed.x >>speed.theta; + speed.y=0; + is >> accel.x; + accel.y=accel.theta=0; + reading->setPose(pose); reading->setSpeed(speed); reading->setAcceleration(accel); + double timestamp, reltimestamp; + string s; + is >> timestamp >>s >> reltimestamp; + reading->setTime(timestamp); + return reading; +} + +RangeReading* SensorStream::parseRange(std::istream& is, const RangeSensor* rs){ + //cerr << __func__ << endl; + if(rs->newFormat){ + string laser_type, start_angle, field_of_view, angular_resolution, maximum_range, accuracy, remission_mode; + is >> laser_type>> start_angle>> field_of_view>> angular_resolution>> maximum_range>> accuracy>> remission_mode; + //cerr << " New format laser msg" << endl; + } + unsigned int size; + is >> size; + assert(size==rs->beams().size()); + RangeReading* reading=new RangeReading(rs); + reading->resize(size); + for (unsigned int i=0; i> (*reading)[i]; + } + if (rs->newFormat){ + int reflectionBeams; + is >> reflectionBeams; + double reflection; + for (int i=0; i> reflection; + } + OrientedPoint laserPose; + is >> laserPose.x >> laserPose.y >> laserPose.theta; + OrientedPoint pose; + is >> pose.x >> pose.y >> pose.theta; + reading->setPose(pose); + + if (rs->newFormat){ + string laser_tv, laser_rv, forward_safety_dist, side_safty_dist, turn_axis; + is >> laser_tv >> laser_rv >> forward_safety_dist >> side_safty_dist >> turn_axis; + } +// else { +// double a,b,c; +// is >> a >> b >> c; +// } + double timestamp, reltimestamp; + string s; + is >> timestamp >>s >> reltimestamp; + reading->setTime(timestamp); + return reading; + +} + +//LogSensorStream +LogSensorStream::LogSensorStream(const SensorMap& sensorMap, const SensorLog* log): + SensorStream(sensorMap){ + m_log=log; + assert(m_log); + m_cursor=log->begin(); +} + +LogSensorStream::operator bool() const{ + return m_cursor==m_log->end(); +} + +bool LogSensorStream::rewind(){ + m_cursor=m_log->begin(); + return true; +} + +SensorStream& LogSensorStream::operator >>(const SensorReading*& rd){ + rd=*m_cursor; + m_cursor++; + return *this; +} + +//InputSensorStream +InputSensorStream::InputSensorStream(const SensorMap& sensorMap, std::istream& is): + SensorStream(sensorMap), m_inputStream(is){ +} + +InputSensorStream::operator bool() const{ + return (bool) m_inputStream; +} + +bool InputSensorStream::rewind(){ + //m_inputStream.rewind(); + return false; +} + +SensorStream& InputSensorStream::operator >>(const SensorReading*& reading){ + reading=parseReading(m_inputStream, m_sensorMap); + return *this; +} + +}; + diff --git a/src/openslam_gmapping/manual.mk b/src/openslam_gmapping/manual.mk new file mode 100644 index 0000000..f15b420 --- /dev/null +++ b/src/openslam_gmapping/manual.mk @@ -0,0 +1,7 @@ +#CPPFLAGS+= -DNDEBUG +CXXFLAGS+= -O3 -Wall -ffast-math +#CXXFLAGS+= -g -O0 -Wall +PROFILE= false + + + diff --git a/src/openslam_gmapping/manual.mk-template b/src/openslam_gmapping/manual.mk-template new file mode 100644 index 0000000..96be106 --- /dev/null +++ b/src/openslam_gmapping/manual.mk-template @@ -0,0 +1,7 @@ +#CPPFLAGS+= -DNDEBUG +#CXXFLAGS+= -O3 -Wall +CXXFLAGS+= -g -O0 -Wall +PROFILE= false + + + diff --git a/src/openslam_gmapping/package.xml b/src/openslam_gmapping/package.xml new file mode 100644 index 0000000..c1328b9 --- /dev/null +++ b/src/openslam_gmapping/package.xml @@ -0,0 +1,21 @@ + + + openslam_gmapping + 0.2.1 + The catkinized verseion of openslam_gmapping package (https://github.com/OpenSLAM-org/openslam_gmapping/tree/79ef0b0e6d9a12d6390ae64c4c00d37d776abefb) + + ROS Orphaned Package Maintainers + BSD + + http://openslam.org/gmapping + https://github.com/ros-perception/openslam_gmapping + https://github.com/ros-perception/openslam_gmapping/issues + + Cyrill Stachniss + Udo Frese + Giorgio Grisetti + Wolfram Burgard + + catkin + + diff --git a/src/openslam_gmapping/particlefilter/Makefile b/src/openslam_gmapping/particlefilter/Makefile new file mode 100644 index 0000000..bcc70e9 --- /dev/null +++ b/src/openslam_gmapping/particlefilter/Makefile @@ -0,0 +1,9 @@ +OBJS= +APPS= range_bearing particlefilter_test + +LDFLAGS+= +CPPFLAGS+= + +-include ../global.mk +-include ../build_tools/Makefile.app + diff --git a/src/openslam_gmapping/particlefilter/particlefilter.cpp b/src/openslam_gmapping/particlefilter/particlefilter.cpp new file mode 100644 index 0000000..e49999a --- /dev/null +++ b/src/openslam_gmapping/particlefilter/particlefilter.cpp @@ -0,0 +1,133 @@ +std::vector sistematicResampler::resample(const vector& particles) const{ + Numeric cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (vector::const_iterator it=particles.begin(); it!=particles.end(); ++it){ + cweight+=it->weight; + n++; + } + + //compute the interval + Numeric interval=cweight/n; + + //compute the initial target weight + Numeric target= + //compute the resampled indexes + + cweight=0; + std::vector indexes(n); + n=0; + unsigned int i=0; + for (vector::const_iterator it=particles.begin(); it!=particles.end(); ++it, ++i){ + cweight+=it->weight; + while(cweight>target){ + indexes[n++]=i; + target+=interval; + } + } + return indexes; + } + +template +std::vector indexResampler::resample(const vector >& weights) const{ + Numeric cweight=0; + + //compute the cumulative weights + unsigned int n=0; + for (vector::const_iterator it=weights.begin(); it!=weights.end(); ++it){ + cweight+=*it; + n++; + } + + //compute the interval + Numeric interval=cweight/n; + + //compute the initial target weight + Numeric target= + //compute the resampled indexes + + cweight=0; + std::vector indexes(n); + n=0; + unsigned int i=0; + for (vector::const_iterator it=weights.begin(); it!=weights.end(); ++it, ++i){ + cweight+=it->weight; + while(cweight>target){ + indexes[n++]=i; + target+=interval; + } + } + return indexes; +} + +/* + +The following are patterns for the evolution and the observation classes +The user should implement classes having the specified meaning + +template +struct observer{ + Observation& observation + Numeric observe(const class State&) const; +}; + +template +struct evolver{ + Input& input; + State& evolve(const State& s); +}; +*/ + +template +void evolver::evolve(std::vector& particles) const{ + for (std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it) + *it=evolutionModel.evolve(*it); +} + +void evolver::evolve(std::vector& dest, const std::vector& src) const{ + dest.clear(); + for (std::vector::const_iterator it=src.begin(); it!=src.end(); ++it) + dest.push_back(evolutionModel.evolve(*it)); +} + +template +struct auxiliaryEvolver{ + typedef particle Particle; + + EvolutionModel evolutionModel; + QualificationModel qualificationModel; + LikelyhoodModel likelyhoodModel; + indexResampler resampler; + +void auxiliaryEvolver::evolve + (std::vector&particles){ + std::vector observationWeights(particles.size()); + unsigned int i=0; + for (std::vector::const_iterator it=particles.begin(); it!=particles.end(); ++it, i++){ + observationWeights[i]=likelyhoodModel.likelyhood(qualificationModel.evolve(*it)); + } + std::vector indexes(indexResampler.resample(observationWeights)); + for (std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); it++){ + Particle & particle=particles[*it]; + particle=evolutionModel.evolve(particle); + particle.weight*=lykelyhoodModel.lykelyhood(particle)/observationWeights[*it]; + } +} + +void auxiliaryEvolver::evolve + (std::vector& dest, const std::vector& src){ + dest.clear(); + std::vector observationWeights(particles.size()); + unsigned int i=0; + for (std::vector::const_iterator it=src.begin(); it!=src.end(); ++it, i++){ + observationWeights[i]=likelyhoodModel.likelyhood(qualificationModel.evolve(*it)); + } + std::vector indexes(indexResampler.resample(observationWeights)); + for (std::vector::const_iterator it=indexes.begin(); it!=indexes.end(); it++){ + Particle & particle=src[*it]; + dest.push_back(evolutionModel.evolve(particle)); + dest.back().weight*=likelyhoodModel.lykelyhood(particle)/observationWeights[*it]; + } + return dest(); +} diff --git a/src/openslam_gmapping/particlefilter/particlefilter_test.cpp b/src/openslam_gmapping/particlefilter/particlefilter_test.cpp new file mode 100644 index 0000000..e920e70 --- /dev/null +++ b/src/openslam_gmapping/particlefilter/particlefilter_test.cpp @@ -0,0 +1,98 @@ +#include +#include +#include +#include "gmapping/particlefilter/particlefilter.h" + +using namespace std; + +#define test(s) {cout << s << " " << flush;} +#define testOk() {cout << "OK" << endl;} + +struct Particle{ + double p; + double w; + inline operator double() const {return w;} + inline void setWeight(double _w) {w=_w;} +}; + +ostream& printParticles(ostream& os, const vector& p) +{ + for (vector::const_iterator it=p.begin(); it!=p.end(); ++it) { + os << it->p<< " " << (double)*it << endl; + } + return os; +} + +struct EvolutionModel{ + Particle evolve(const Particle& p){ + Particle pn(p); + pn.p+=.5*(drand48()-.5); + return pn; + } +}; + +struct QualificationModel{ + Particle evolve(const Particle& p){ + return p; + } +}; + +struct LikelyhoodModel{ + double likelyhood(const Particle& p) const{ + double v = 1./(0.1+10*(p.p-2)*(p.p-2))+0.5/(0.1+10*(p.p-8)*(p.p-8)); + return v; + } +}; + +int main (unsigned int argc, const char * const * argv){ + int nparticles=100; + if (argc>1) + nparticles=atoi(argv[1]); + vector particles(nparticles); + LikelyhoodModel likelyhoodModel; + uniform_resampler resampler; + auxiliary_evolver auxevolver; + evolver evolver; + + for (vector::iterator it=particles.begin(); it!=particles.end(); it++){ + it->w=1; + it->p=10*(drand48()); + } + + vector sirparticles(particles); + vector auxparticles(particles); + + /*sir step*/ + while (1){ + char buf[2]; + cin.getline(buf,2); + vector newgeneration; + + cout << "# SIR step" << endl; + evolver.evolve(sirparticles); + for (vector::iterator it=sirparticles.begin(); it!=sirparticles.end(); it++){ + it->setWeight(likelyhoodModel.likelyhood(*it)); + } + ofstream os("sir.dat"); + printParticles(os, sirparticles); + os.close(); + newgeneration=resampler.resample(sirparticles); + sirparticles=newgeneration; + + cout << "# AUX step" << endl; + auxevolver.evolve(auxparticles); + for (vector::iterator it=auxparticles.begin(); it!=auxparticles.end(); it++){ + it->setWeight(likelyhoodModel.likelyhood(*it)); + } + os.open("aux.dat"); + printParticles(os, auxparticles); + os.close(); + newgeneration=resampler.resample(auxparticles); + auxparticles=newgeneration; + cout << "plot [0:10][0:10]\"sir.dat\" w impulses" << endl; + cout << "replot 1./(0.1+10*(x-2)*(x-2))+0.5/(0.1+10*(x-8)*(x-8))" << endl; + +// cout << "replot \"aux.dat\" w p" << endl; + } +} + diff --git a/src/openslam_gmapping/particlefilter/range_bearing.cpp b/src/openslam_gmapping/particlefilter/range_bearing.cpp new file mode 100644 index 0000000..ac68715 --- /dev/null +++ b/src/openslam_gmapping/particlefilter/range_bearing.cpp @@ -0,0 +1,99 @@ +#include +#include +#include +#include +#include "gmapping/particlefilter/particlefilter.h" + +using namespace std; +using namespace GMapping; + +#define test(s) {cout << s << " " << flush;} +#define testOk() {cout << "OK" << endl;} + +struct Particle{ + Particle(): p(0,0), w(0){} + Point p; + double w; + operator double() const {return w; } + void setWeight(double _w) {w=_w;} +}; + +ostream& printParticles(ostream& os, const vector& p) +{ + for (vector::const_iterator it=p.begin(); it!=p.end(); ++it) { + os << it->p.x << " " << it->p.y << endl; + } + return os; +} + +struct EvolutionModel{ + Particle evolve(const Particle& p){ + Particle pn(p); + pn.p.x+=10*(drand48()-.5); + pn.p.y+=10*(drand48()-.5); + return pn; + } +}; + + +struct LikelyhoodModel{ + std::vector observerVector; + std::vector observations; + double sigma; + double likelyhood(const Particle& p) const{ + double v=1; + std::vector::const_iterator oit=observations.begin(); + for (std::vector::const_iterator it=observerVector.begin(); it!=observerVector.end();it++){ + v*=exp(-pow(((p.p-*it)*(p.p-*it)-*oit*(*oit))/sigma, 2)); + oit++; + } + cout << "#v=" << v << endl; + return v; + } +}; + +int main (unsigned int argc, const char * const * argv){ + vector particles(1000); + LikelyhoodModel likelyhoodModel; + uniform_resampler resampler; + evolver evolver; + + for (vector::iterator it=particles.begin(); it!=particles.end(); it++){ + it->w=1; + it->p.x=400*(drand48()-.5); + it->p.y=400*(drand48()-.5); + } + + vector sensors; + + sensors.push_back(Point(-50,0)); + sensors.push_back(Point(50,0)); + sensors.push_back(Point(0,100)); + + likelyhoodModel.sigma=1000; + likelyhoodModel.observations.push_back(70); + likelyhoodModel.observations.push_back(70); + likelyhoodModel.observations.push_back(70); + + likelyhoodModel.observerVector=sensors; + while (1){ + char buf[2]; + cin.getline(buf,2); + vector newgeneration; + + cout << "# SIR step" << endl; + evolver.evolve(particles); + for (vector::iterator it=particles.begin(); it!=particles.end(); it++){ + it->w*=likelyhoodModel.likelyhood(*it); + } + + ofstream os("sir.dat"); + printParticles(os, particles); + os.close(); + vector newpart=resampler.resample(particles); + particles=newpart; + + cout << "plot [-200:200][-200:200]\"sir.dat\" w p" << endl; + } +} + diff --git a/src/openslam_gmapping/scanmatcher/Makefile b/src/openslam_gmapping/scanmatcher/Makefile new file mode 100644 index 0000000..b100595 --- /dev/null +++ b/src/openslam_gmapping/scanmatcher/Makefile @@ -0,0 +1,11 @@ +OBJS= smmap.o scanmatcher.o scanmatcherprocessor.o eig3.o +APPS= scanmatch_test icptest + +#LDFLAGS+= $(GSL_LIB) -lutils -lsensor_range -llog +LDFLAGS+= -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils +#CPPFLAGS+=-I../sensor $(GSL_INCLUDE) +CPPFLAGS+=-I../sensor + +-include ../global.mk +-include ../build_tools/Makefile.generic-shared-object + diff --git a/src/openslam_gmapping/scanmatcher/eig3.cpp b/src/openslam_gmapping/scanmatcher/eig3.cpp new file mode 100644 index 0000000..2c9e409 --- /dev/null +++ b/src/openslam_gmapping/scanmatcher/eig3.cpp @@ -0,0 +1,270 @@ + +/* Eigen decomposition code for symmetric 3x3 matrices, copied from the public + domain Java Matrix library JAMA. */ + +#include + +#ifndef MAX +#define MAX(a, b) ((a)>(b)?(a):(b)) +#endif + +#define n 3 + +static double hypot2(double x, double y) { + return sqrt(x*x+y*y); +} + +// Symmetric Householder reduction to tridiagonal form. + +static void tred2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tred2 by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,k; + double f,g,h,hh; + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + double scale = 0.0; + double h = 0.0; + for (k = 0; k < i; k++) { + scale = scale + fabs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + f = d[i-1]; + g = sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + hh = f / (h + h); + for (j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + h = d[i+1]; + if (h != 0.0) { + for (k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (j = 0; j <= i; j++) { + g = 0.0; + for (k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; +} + +// Symmetric tridiagonal QL algorithm. + +static void tql2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tql2, by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,m,l,k; + double g,p,r,dl1,h,f,tst1,eps; + double c,c2,c3,el1,s,s2; + + for (i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + f = 0.0; + tst1 = 0.0; + eps = pow(2.0,-52.0); + for (l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = MAX(tst1,fabs(d[l]) + fabs(e[l])); + m = l; + while (m < n) { + if (fabs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + g = d[l]; + p = (d[l+1] - g) / (2.0 * e[l]); + r = hypot2(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + dl1 = d[l+1]; + h = g - d[l]; + for (i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + c = 1.0; + c2 = c; + c3 = c; + el1 = e[l+1]; + s = 0.0; + s2 = 0.0; + for (i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = hypot2(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (fabs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (i = 0; i < n-1; i++) { + k = i; + p = d[i]; + for (j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } +} + +void eigen_decomposition(double A[n][n], double V[n][n], double d[n]) { + int i,j; + double e[n]; + for (i = 0; i < n; i++) { + for (j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + tred2(V, d, e); + tql2(V, d, e); +} diff --git a/src/openslam_gmapping/scanmatcher/icptest.cpp b/src/openslam_gmapping/scanmatcher/icptest.cpp new file mode 100644 index 0000000..9b5697f --- /dev/null +++ b/src/openslam_gmapping/scanmatcher/icptest.cpp @@ -0,0 +1,91 @@ +#include +#include +#include + +#include +#include "gmapping/scanmatcher/icp.h" + +using namespace GMapping; +using namespace std; + +typedef std::list PointPairList; + +PointPairList generateRandomPointPairs(int size, OrientedPoint t, double noise=0.){ + PointPairList ppl; + double s=sin(t.theta), c=cos(t.theta); + for (int i=0; i> size >> t.x >> t.y >> t.theta; + PointPairList ppl=generateRandomPointPairs(size, t, 3); + OrientedPoint tc; + OrientedPoint ttot(0.,0.,0.); + bool method=true; + while(1){ + char buf[10]; + cerr << "iterate?" << endl; + cin.getline(buf,10); + if (buf[0]=='n') + method=false; + else if (buf[0]=='l') + method=true; + else if (buf[0]!=char(0)) + break; + cout << "plot '-' w l, '-' w p, '-' w p" << endl; + for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){ + cout << it->first.x << " " << it->first.y<< endl; + cout << it->second.x << " " << it->second.y<< endl; + cout << endl; + } + cout << "e" << endl; + for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){ + cout << it->first.x << " " << it->first.y<< endl; + } + cout << "e" << endl; + for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){ + cout << it->second.x << " " << it->second.y<< endl; + } + cout << "e" << endl; + + double error; + if (!method){ + cerr << "Nonlinear Optimization" << endl; + error=icpNonlinearStep(tc,ppl); + }else { + cerr << "Linear Optimization" << endl; + error=icpStep(tc,ppl); + } + cerr << "ICP err=" << error << " t.x=" << tc.x << " t.y=" << tc.y << " t.theta=" << tc.theta << endl; + cerr << "\t" << error << " ttot.x=" << ttot.x << " ttot.y=" << ttot.y << " ttot.theta=" << ttot.theta << endl; + double s=sin(tc.theta), c=cos(tc.theta); + for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){ + Point p1(c*it->first.x-s*it->first.y+tc.x, + s*it->first.x+c*it->first.y+tc.y); + it->first=p1; + } + ttot.x+=tc.x; + ttot.y+=tc.y; + ttot.theta+=tc.theta; + ttot.theta=atan2(sin(ttot.theta), cos(ttot.theta)); + } + } + return 0; +} diff --git a/src/openslam_gmapping/scanmatcher/scanmatch_test.cpp b/src/openslam_gmapping/scanmatcher/scanmatch_test.cpp new file mode 100644 index 0000000..a2fc94a --- /dev/null +++ b/src/openslam_gmapping/scanmatcher/scanmatch_test.cpp @@ -0,0 +1,188 @@ +#include +#include +#include +#include +#include +#ifndef _WIN32 + #include +#endif +#include +#include +#include "gmapping/scanmatcher/scanmatcherprocessor.h" + +using namespace std; +using namespace GMapping; + +#define DEBUG cout << __func__ +#define MAX_STRING_LENGTH 1024 + +int main(int argc, const char * const * argv){ + string filename; + string outfilename; + double xmin=-100.; + double ymin=-100.; + double xmax=100.; + double ymax=100.; + double delta=1.; + double patchDelta=0.1; + double sigma=0.02; + double maxrange=81.9; + double maxUrange=81.9; + double regscore=1e4; + double lstep=.05; + double astep=.05; + int kernelSize=0; + int iterations=4; + double critscore=0.; + double maxMove=1.; + bool computeCovariance=false; + bool readFromStdin=false; + bool useICP=false; + double laserx=.0,lasery=.0,lasertheta=.0; +// bool headingOnly=false; + + + if (argc<2){ + cout << "usage main {arglist}" << endl; + cout << "where the arguments are: " << endl; + cout << "\t -xmin " << endl; + cout << "\t -xmax " << endl; + cout << "\t -ymin " << endl; + cout << "\t -ymax " << endl; + cout << "\t -maxrange : maxmimum preception range" << endl; + cout << "\t -delta : patch size" << endl; + cout << "\t -patchDelta : patch cell size" << endl; + cout << "\t -lstep : linear serach step" << endl; + cout << "\t -astep : ìangular search step" << endl; + cout << "\t -regscore : registration scan score" << endl; + cout << "\t -filename : log filename in carmen format" << endl; + cout << "\t -sigma : convolution kernel size" << endl; + cout << "Look the code for discovering another thousand of unuseful parameters" << endl; + return -1; + } + + CMD_PARSE_BEGIN(1,argc); + parseString("-filename",filename); + parseString("-outfilename",outfilename); + parseDouble("-xmin",xmin); + parseDouble("-xmax",xmax); + parseDouble("-ymin",ymin); + parseDouble("-ymax",ymax); + parseDouble("-delta",delta); + parseDouble("-patchDelta",patchDelta); + parseDouble("-maxrange",maxrange); + parseDouble("-maxUrange",maxUrange); + parseDouble("-regscore",regscore); + parseDouble("-critscore",critscore); + parseInt("-kernelSize",kernelSize); + parseDouble("-sigma",sigma); + parseInt("-iterations",iterations); + parseDouble("-lstep",lstep); + parseDouble("-astep",astep); + parseDouble("-maxMove",maxMove); + parseFlag("-computeCovariance",computeCovariance); + parseFlag("-stdin", readFromStdin); + parseFlag("-useICP", useICP); + parseDouble("-laserx",laserx); + parseDouble("-lasery",lasery); + parseDouble("-lasertheta",lasertheta); + CMD_PARSE_END; + + if (!filename.size()){ + cout << "no filename specified" << endl; + return -1; + } + + ifstream is; + is.open(filename.c_str()); + if (! is){ + cout << "no file found" << endl; + return -1; + } + + + DEBUG << "scanmatcher processor construction" << endl; + ScanMatcherProcessor scanmatcher(xmin, ymin, xmax, ymax, delta, patchDelta); + + //double range, double sigma, int kernsize, double lopt, double aopt, int iterations + scanmatcher.setMatchingParameters(maxUrange, maxrange, sigma, kernelSize, lstep, astep, iterations, computeCovariance); + scanmatcher.setRegistrationParameters(regscore, critscore); + scanmatcher.setmaxMove(maxMove); + scanmatcher.useICP=useICP; + scanmatcher.matcher().setlaserPose(OrientedPoint(laserx,lasery,lasertheta)); + + CarmenConfiguration conf; + conf.load(is); + is.close(); + + SensorMap sensorMap=conf.computeSensorMap(); + scanmatcher.setSensorMap(sensorMap); + + InputSensorStream* input=0; + + ifstream plainStream; + if (! readFromStdin){ + plainStream.open(filename.c_str()); + input=new InputSensorStream(sensorMap, plainStream); + cout << "Plain Stream opened="<< (bool) plainStream << endl; + } else { + input=new InputSensorStream(sensorMap, cin); + cout << "Plain Stream opened on stdin" << endl; + } + +/* + SensorLog log(sensorMap); + ifstream logstream(filename); + log.load(logstream); + logstream.close(); + cout << "Log loaded " << log.size() << " records" << endl; +*/ + ostream* output; + ofstream poseStream; + if (! readFromStdin){ + if (! outfilename.size()){ + outfilename=string("scanmatched")+filename; + } + poseStream.open(outfilename.c_str()); + output=&poseStream; + } else { + output=&cout; + } + scanmatcher.init(); + ofstream odopathStream("odopath.dat"); + while (*input){ + const SensorReading* r; + (*input) >> r; + if (! r) + continue; + const RangeReading* rr=dynamic_cast(r); + if (rr){ + const RangeSensor* s=dynamic_cast(r->getSensor()); + bool isFront= s->getPose().theta==0; + + if (! readFromStdin){ + cout << "." << flush; + } + const RangeSensor* rs=dynamic_cast(rr->getSensor()); + assert (rs && rs->beams().size()==rr->size()); + odopathStream << rr->getPose().x << " " << rr->getPose().y << endl; + scanmatcher.processScan(*rr); + OrientedPoint p=scanmatcher.getPose(); + if (isFront) + *output << "FLASER "<< rr->size() << " "; + else + *output << "RLASER "<< rr->size() << " "; + for (RangeReading::const_iterator b=rr->begin(); b!=rr->end(); b++){ + *output << *b << " "; + } + *output << p.x << " " << p.y << " " << p.theta << " "; + //p=rr->getPose(); + double t=rr->getTime(); //FIXME + *output << p.x << " " << p.y << " " << p.theta << " "; + *output << t << " nohost " << t << endl; + } + } + if (! readFromStdin){ + poseStream.close(); + } +} diff --git a/src/openslam_gmapping/scanmatcher/scanmatcher.cpp b/src/openslam_gmapping/scanmatcher/scanmatcher.cpp new file mode 100644 index 0000000..f7fb885 --- /dev/null +++ b/src/openslam_gmapping/scanmatcher/scanmatcher.cpp @@ -0,0 +1,725 @@ +#include +#include +#include +#include + +#include "gmapping/scanmatcher/scanmatcher.h" +#include "gmapping/scanmatcher/gridlinetraversal.h" +//#define GENERATE_MAPS + +namespace GMapping { + +using namespace std; + +const double ScanMatcher::nullLikelihood=-.5; + +ScanMatcher::ScanMatcher(): m_laserPose(0,0,0){ + //m_laserAngles=0; + m_laserBeams=0; + m_optRecursiveIterations=3; + m_activeAreaComputed=false; + + // This are the dafault settings for a grid map of 5 cm + m_llsamplerange=0.01; + m_llsamplestep=0.01; + m_lasamplerange=0.005; + m_lasamplestep=0.005; + m_enlargeStep=10.; + m_fullnessThreshold=0.1; + m_angularOdometryReliability=0.; + m_linearOdometryReliability=0.; + m_freeCellRatio=sqrt(2.); + m_initialBeamsSkip=0; + +/* + // This are the dafault settings for a grid map of 10 cm + m_llsamplerange=0.1; + m_llsamplestep=0.1; + m_lasamplerange=0.02; + m_lasamplestep=0.01; +*/ + // This are the dafault settings for a grid map of 20/25 cm +/* + m_llsamplerange=0.2; + m_llsamplestep=0.1; + m_lasamplerange=0.02; + m_lasamplestep=0.01; + m_generateMap=false; +*/ + + m_linePoints = new IntPoint[20000]; +} + +ScanMatcher::~ScanMatcher(){ + delete [] m_linePoints; +} + +void ScanMatcher::invalidateActiveArea(){ + m_activeAreaComputed=false; +} + +/* +void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){ + if (m_activeAreaComputed) + return; + HierarchicalArray2D::PointSet activeArea; + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + const double * angle=m_laserAngles; + for (const double* r=readings; rm_laserMaxRange) + continue; + if (d>m_usableRange) + d=m_usableRange; + + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p1=map.world2map(phit); + + d+=map.getDelta(); + //Point phit2=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + //IntPoint p2=map.world2map(phit2); + IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=linePoints; + //GridLineTraversal::gridLine(p0, p2, &line); + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; im_laserMaxRange||*r>m_usableRange) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint p1=map.world2map(phit); + assert(p1.x>=0 && p1.y>=0); + IntPoint cp=map.storage().patchIndexes(p1); + assert(cp.x>=0 && cp.y>=0); + activeArea.insert(cp); + + } + //this allocates the unallocated cells in the active area of the map + //cout << "activeArea::size() " << activeArea.size() << endl; + map.storage().setActiveArea(activeArea, true); + m_activeAreaComputed=true; +} +*/ +void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){ + if (m_activeAreaComputed) + return; + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + + Point min(map.map2world(0,0)); + Point max(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1)); + + if (lp.xmax.x) max.x=lp.x; + if (lp.y>max.y) max.y=lp.y; + + /*determine the size of the area*/ + const double * angle=m_laserAngles+m_initialBeamsSkip; + for (const double* r=readings+m_initialBeamsSkip; rm_laserMaxRange||*r==0.0||isnan(*r)) continue; + double d=*r>m_usableRange?m_usableRange:*r; + Point phit=lp; + phit.x+=d*cos(lp.theta+*angle); + phit.y+=d*sin(lp.theta+*angle); + if (phit.xmax.x) max.x=phit.x; + if (phit.y>max.y) max.y=phit.y; + } + //min=min-Point(map.getDelta(),map.getDelta()); + //max=max+Point(map.getDelta(),map.getDelta()); + + if ( !map.isInside(min) || !map.isInside(max)){ + Point lmin(map.map2world(0,0)); + Point lmax(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1)); + //cerr << "CURRENT MAP " << lmin.x << " " << lmin.y << " " << lmax.x << " " << lmax.y << endl; + //cerr << "BOUNDARY OVERRIDE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl; + min.x=( min.x >= lmin.x )? lmin.x: min.x-m_enlargeStep; + max.x=( max.x <= lmax.x )? lmax.x: max.x+m_enlargeStep; + min.y=( min.y >= lmin.y )? lmin.y: min.y-m_enlargeStep; + max.y=( max.y <= lmax.y )? lmax.y: max.y+m_enlargeStep; + map.resize(min.x, min.y, max.x, max.y); + //cerr << "RESIZE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl; + } + + HierarchicalArray2D::PointSet activeArea; + /*allocate the active area*/ + angle=m_laserAngles+m_initialBeamsSkip; + for (const double* r=readings+m_initialBeamsSkip; rm_laserMaxRange||d==0.0||isnan(d)) + continue; + if (d>m_usableRange) + d=m_usableRange; + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p0=map.world2map(lp); + IntPoint p1=map.world2map(phit); + + //IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=m_linePoints; + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; i=0 && m_linePoints[i].y>=0); + } + if (d=0 && cp.y>=0); + activeArea.insert(cp); + } + } else { + if (*r>m_laserMaxRange||*r>m_usableRange||*r==0.0||isnan(*r)) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint p1=map.world2map(phit); + assert(p1.x>=0 && p1.y>=0); + IntPoint cp=map.storage().patchIndexes(p1); + assert(cp.x>=0 && cp.y>=0); + activeArea.insert(cp); + } + + //this allocates the unallocated cells in the active area of the map + //cout << "activeArea::size() " << activeArea.size() << endl; +/* + cerr << "ActiveArea="; + for (HierarchicalArray2D::PointSet::const_iterator it=activeArea.begin(); it!= activeArea.end(); it++){ + cerr << "(" << it->x <<"," << it->y << ") "; + } + cerr << endl; +*/ + map.storage().setActiveArea(activeArea, true); + m_activeAreaComputed=true; +} + +double ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){ + if (!m_activeAreaComputed) + computeActiveArea(map, p, readings); + + //this operation replicates the cells that will be changed in the registration operation + map.storage().allocActiveArea(); + + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + + + const double * angle=m_laserAngles+m_initialBeamsSkip; + double esum=0; + for (const double* r=readings+m_initialBeamsSkip; rm_laserMaxRange||d==0.0||isnan(d)) + continue; + if (d>m_usableRange) + d=m_usableRange; + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p1=map.world2map(phit); + //IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=m_linePoints; + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; im_laserMaxRange||*r>m_usableRange||*r==0.0||isnan(*r)) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint p1=map.world2map(phit); + assert(p1.x>=0 && p1.y>=0); + map.cell(p1).update(true,phit); + } + //cout << "informationGain=" << -esum << endl; + return esum; +} + +/* +void ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){ + if (!m_activeAreaComputed) + computeActiveArea(map, p, readings); + + //this operation replicates the cells that will be changed in the registration operation + map.storage().allocActiveArea(); + + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + const double * angle=m_laserAngles; + for (const double* r=readings; rm_laserMaxRange) + continue; + if (d>m_usableRange) + d=m_usableRange; + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p1=map.world2map(phit); + + IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=linePoints; + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; im_laserMaxRange||*r>m_usableRange) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + map.cell(phit).update(true,phit); + } +} + +*/ + +double ScanMatcher::icpOptimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{ + double currentScore; + double sc=score(map, init, readings);; + OrientedPoint start=init; + pnew=init; + int iterations=0; + do{ + currentScore=sc; + sc=icpStep(pnew, map, start, readings); + //cerr << "pstart=" << start.x << " " <currentScore); + cerr << "i="<< iterations << endl; + return currentScore; +} + +double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{ + double bestScore=-1; + OrientedPoint currentPose=init; + double currentScore=score(map, currentPose, readings); + double adelta=m_optAngularDelta, ldelta=m_optLinearDelta; + unsigned int refinement=0; + enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done}; +/* cout << __func__<< " readings: "; + for (int i=0; i=currentScore){ + refinement++; + adelta*=.5; + ldelta*=.5; + } + bestScore=currentScore; +// cout <<"score="<< currentScore << " refinement=" << refinement; +// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl; + OrientedPoint bestLocalPose=currentPose; + OrientedPoint localPose=currentPose; + + Move move=Front; + do { + localPose=currentPose; + switch(move){ + case Front: + localPose.x+=ldelta; + move=Back; + break; + case Back: + localPose.x-=ldelta; + move=Left; + break; + case Left: + localPose.y-=ldelta; + move=Right; + break; + case Right: + localPose.y+=ldelta; + move=TurnLeft; + break; + case TurnLeft: + localPose.theta+=adelta; + move=TurnRight; + break; + case TurnRight: + localPose.theta-=adelta; + move=Done; + break; + default:; + } + + double odo_gain=1; + if (m_angularOdometryReliability>0.){ + double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth; + odo_gain*=exp(-m_angularOdometryReliability*dth); + } + if (m_linearOdometryReliability>0.){ + double dx=init.x-localPose.x; + double dy=init.y-localPose.y; + double drho=dx*dx+dy*dy; + odo_gain*=exp(-m_linearOdometryReliability*drho); + } + double localScore=odo_gain*score(map, localPose, readings); + + if (localScore>currentScore){ + currentScore=localScore; + bestLocalPose=localPose; + } + c_iterations++; + } while(move!=Done); + currentPose=bestLocalPose; +// cout << "currentScore=" << currentScore<< endl; + //here we look for the best move; + }while (currentScore>bestScore || refinement0.){ + double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth; + odo_gain*=exp(-m_angularOdometryReliability*dth); + } + if (m_linearOdometryReliability>0.){ + double dx=init.x-localPose.x; + double dy=init.y-localPose.y; + double drho=dx*dx+dy*dy; + odo_gain*=exp(-m_linearOdometryReliability*drho); + } + localScore=odo_gain*score(map, localPose, readings); + //update the score + count++; + matched=likelihoodAndScore(localScore, localLikelihood, map, localPose, readings); + if (localScore>currentScore){ + currentScore=localScore; + bestLocalPose=localPose; + } + sm.score=localScore; + sm.likelihood=localLikelihood;//+log(odo_gain); + sm.pose=localPose; + moveList.push_back(sm); + //update the move list + } while(move!=Done); + currentPose=bestLocalPose; + //cout << __func__ << "currentScore=" << currentScore<< endl; + //here we look for the best move; + }while (currentScore>bestScore || refinement::PointSet activeArea; + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + const double * angle=m_laserAngles; + for (const double* r=readings; rm_laserMaxRange) + continue; + if (d>m_usableRange) + d=m_usableRange; + + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p1=map.world2map(phit); + + d+=map.getDelta(); + //Point phit2=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + //IntPoint p2=map.world2map(phit2); + IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=linePoints; + //GridLineTraversal::gridLine(p0, p2, &line); + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; im_laserMaxRange||*r>m_usableRange) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + IntPoint p1=map.world2map(phit); + assert(p1.x>=0 && p1.y>=0); + IntPoint cp=map.storage().patchIndexes(p1); + assert(cp.x>=0 && cp.y>=0); + activeArea.insert(cp); + + } + //this allocates the unallocated cells in the active area of the map + //cout << "activeArea::size() " << activeArea.size() << endl; + map.storage().setActiveArea(activeArea, true); + m_activeAreaComputed=true; +} + +void ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){ + if (!m_activeAreaComputed) + computeActiveArea(map, p, readings); + + //this operation replicates the cells that will be changed in the registration operation + map.storage().allocActiveArea(); + + OrientedPoint lp=p; + lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y; + lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y; + lp.theta+=m_laserPose.theta; + IntPoint p0=map.world2map(lp); + const double * angle=m_laserAngles; + for (const double* r=readings; rm_laserMaxRange) + continue; + if (d>m_usableRange) + d=m_usableRange; + Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + IntPoint p1=map.world2map(phit); + + d+=map.getDelta(); + //Point phit2=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle)); + //IntPoint p2=map.world2map(phit2); + IntPoint linePoints[20000] ; + GridLineTraversalLine line; + line.points=linePoints; + //GridLineTraversal::gridLine(p0, p2, &line); + GridLineTraversal::gridLine(p0, p1, &line); + for (int i=0; im_laserMaxRange||*r>m_usableRange) continue; + Point phit=lp; + phit.x+=*r*cos(lp.theta+*angle); + phit.y+=*r*sin(lp.theta+*angle); + map.cell(phit).update(true,phit); + } +} + + + +double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{ + double bestScore=-1; + OrientedPoint currentPose=init; + double currentScore=score(map, currentPose, readings); + double adelta=m_optAngularDelta, ldelta=m_optLinearDelta; + unsigned int refinement=0; + enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done}; + int c_iterations=0; + do{ + if (bestScore>=currentScore){ + refinement++; + adelta*=.5; + ldelta*=.5; + } + bestScore=currentScore; +// cout <<"score="<< currentScore << " refinement=" << refinement; +// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl; + OrientedPoint bestLocalPose=currentPose; + OrientedPoint localPose=currentPose; + + Move move=Front; + do { + localPose=currentPose; + switch(move){ + case Front: + localPose.x+=ldelta; + move=Back; + break; + case Back: + localPose.x-=ldelta; + move=Left; + break; + case Left: + localPose.y-=ldelta; + move=Right; + break; + case Right: + localPose.y+=ldelta; + move=TurnLeft; + break; + case TurnLeft: + localPose.theta+=adelta; + move=TurnRight; + break; + case TurnRight: + localPose.theta-=adelta; + move=Done; + break; + default:; + } + double localScore=score(map, localPose, readings); + if (localScore>currentScore){ + currentScore=localScore; + bestLocalPose=localPose; + } + c_iterations++; + } while(move!=Done); + currentPose=bestLocalPose; + //cout << __func__ << "currentScore=" << currentScore<< endl; + //here we look for the best move; + }while (currentScore>bestScore || refinementcurrentScore){ + currentScore=localScore; + bestLocalPose=localPose; + } + sm.score=localScore; + sm.likelihood=localLikelihood; + sm.pose=localPose; + moveList.push_back(sm); + //update the move list + } while(move!=Done); + currentPose=bestLocalPose; + //cout << __func__ << "currentScore=" << currentScore<< endl; + //here we look for the best move; + }while (currentScore>bestScore || refinement((laser_it->second)); + assert(rangeSensor && rangeSensor->beams().size()); + + m_beams=static_cast(rangeSensor->beams().size()); + double* angles=new double[rangeSensor->beams().size()]; + for (unsigned int i=0; ibeams()[i].pose.theta; + } + m_matcher.setLaserParameters(m_beams, angles, rangeSensor->getPose()); + delete [] angles; + + +} + +void ScanMatcherProcessor::init(){ + m_first=true; + m_pose=OrientedPoint(0,0,0); + m_count=0; +} + +void ScanMatcherProcessor::processScan(const RangeReading & reading){ + /**retireve the position from the reading, and compute the odometry*/ + OrientedPoint relPose=reading.getPose(); + if (!m_count){ + m_odoPose=relPose; + } + + //compute the move in the scan m_matcher + //reference frame + + OrientedPoint move=relPose-m_odoPose; + + double dth=m_odoPose.theta-m_pose.theta; + // cout << "rel-move x="<< move.x << " y=" << move.y << " theta=" << move.theta << endl; + + double lin_move=move*move; + if (lin_move>m_maxMove){ + cerr << "Too big jump in the log file: " << lin_move << endl; + cerr << "relPose=" << relPose.x << " " < +#include +#include +#include +#include +#include "gmapping/sensor/sensor_range/rangereading.h" + +namespace GMapping{ + +using namespace std; + +RangeReading::RangeReading(const RangeSensor* rs, double time): + SensorReading(rs,time){} + +RangeReading::RangeReading(unsigned int n_beams, const double* d, const RangeSensor* rs, double time): + SensorReading(rs,time){ + assert(n_beams==rs->beams().size()); + resize(n_beams); + for (unsigned int i=0; i(getSensor()); + assert(rs); + Point lp( + cos(rs->beams()[i].pose.theta)*(*this)[i], + sin(rs->beams()[i].pose.theta)*(*this)[i]); + Point dp=lastPoint-lp; + double distance=sqrt(dp*dp); + if (distance::max(); + suppressed++; + } + else{ + lastPoint=lp; + v[i]=(*this)[i]; + } + //std::cerr<< __func__ << std::endl; + //std::cerr<< "suppressed " << suppressed <<"/"<(size()); + +}; + +unsigned int RangeReading::activeBeams(double density) const{ + if (density==0.) + return size(); + int ab=0; + Point lastPoint(0,0); + uint suppressed=0; + for (unsigned int i=0; i(getSensor()); + assert(rs); + Point lp( + cos(rs->beams()[i].pose.theta)*(*this)[i], + sin(rs->beams()[i].pose.theta)*(*this)[i]); + Point dp=lastPoint-lp; + double distance=sqrt(dp*dp); + if (distance RangeReading::cartesianForm(double maxRange) const{ + const RangeSensor* rangeSensor=dynamic_cast(getSensor()); + assert(rangeSensor && rangeSensor->beams().size()); + // uint m_beams=rangeSensor->beams().size(); + uint m_beams=static_cast(rangeSensor->beams().size()); + std::vector cartesianPoints(m_beams); + double px,py,ps,pc; + px=rangeSensor->getPose().x; + py=rangeSensor->getPose().y; + ps=sin(rangeSensor->getPose().theta); + pc=cos(rangeSensor->getPose().theta); + for (unsigned int i=0; ibeams()[i].s; + const double& c=rangeSensor->beams()[i].c; + if (rho>=maxRange){ + cartesianPoints[i]=Point(0,0); + } else { + Point p=Point(rangeSensor->beams()[i].pose.x+c*rho, rangeSensor->beams()[i].pose.y+s*rho); + cartesianPoints[i].x=px+pc*p.x-ps*p.y; + cartesianPoints[i].y=py+ps*p.x+pc*p.y; + } + } + return cartesianPoints; +} + +}; + diff --git a/src/openslam_gmapping/sensor/sensor_range/rangesensor.cpp b/src/openslam_gmapping/sensor/sensor_range/rangesensor.cpp new file mode 100644 index 0000000..5b259f5 --- /dev/null +++ b/src/openslam_gmapping/sensor/sensor_range/rangesensor.cpp @@ -0,0 +1,30 @@ +#include "gmapping/sensor/sensor_range/rangesensor.h" + +namespace GMapping{ + +RangeSensor::RangeSensor(std::string name): Sensor(name){} + +RangeSensor::RangeSensor(std::string name, unsigned int beams_num, double res, const OrientedPoint& position, double span, double maxrange):Sensor(name), + m_pose(position), m_beams(beams_num){ + double angle=-.5*res*beams_num; + for (unsigned int i=0; i +#include "gmapping/utils/autoptr.h" + +using namespace std; +using namespace GMapping; + +typedef autoptr DoubleAutoPtr; + +int main(int argc, const char * const * argv){ + double* d1=new double(10.); + double* d2=new double(20.); + cout << "Construction test" << endl; + DoubleAutoPtr pd1(d1); + DoubleAutoPtr pd2(d2); + cout << *pd1 << " " << *pd2 << endl; + cout << "Copy Construction" << endl; + DoubleAutoPtr pd3(pd1); + cout << *pd3 << endl; + cout << "assignment" << endl; + pd3=pd2; + pd1=pd2; + cout << *pd1 << " " << *pd2 << " " << *pd3 << " " << endl; + cout << "conversion operator" << endl; + DoubleAutoPtr nullPtr; + cout << "conversion operator " << !(nullPtr) << endl; + cout << "neg conversion operator " << nullPtr << endl; + cout << "conversion operator " << (int)pd1 << endl; + cout << "neg conversion operator " << !(pd1) << endl; +} diff --git a/src/openslam_gmapping/utils/movement.cpp b/src/openslam_gmapping/utils/movement.cpp new file mode 100644 index 0000000..b5372df --- /dev/null +++ b/src/openslam_gmapping/utils/movement.cpp @@ -0,0 +1,108 @@ +#include "gmapping/utils/movement.h" +#include "gmapping/utils/gvalues.h" + +namespace GMapping { + + +FSRMovement::FSRMovement(double f, double s, double r) { + this->f = f; + this->s = s; + this->r = r; +} + +FSRMovement::FSRMovement(const FSRMovement& src) { + *this = src; +} + +FSRMovement::FSRMovement(const OrientedPoint& pt1, const OrientedPoint& pt2) { + *this = moveBetweenPoints(pt1, pt2); +} + + +FSRMovement::FSRMovement(const FSRMovement& move1, const FSRMovement& move2) { + *this = composeMoves(move1, move2); +} + +void FSRMovement::normalize() +{ + if (r >= -M_PI && r < M_PI) + return; + + int multiplier = (int)(r / (2*M_PI)); + r = r - multiplier*2*M_PI; + if (r >= M_PI) + r -= 2*M_PI; + if (r < -M_PI) + r += 2*M_PI; +} + +OrientedPoint FSRMovement::move(const OrientedPoint& pt) const { + return movePoint(pt, *this); +} + +void FSRMovement::invert() { + *this = invertMove(*this); +} + +void FSRMovement::compose(const FSRMovement& move2) { + *this = composeMoves(*this, move2); +} + + +FSRMovement FSRMovement::composeMoves(const FSRMovement& move1, + const FSRMovement& move2) { + FSRMovement comp; + comp.f = cos(move1.r) * move2.f - sin(move1.r) * move2.s + move1.f; + comp.s = sin(move1.r) * move2.f + cos(move1.r) * move2.s + move1.s; + comp.r = (move1.r + move2.r); + comp.normalize(); + return comp; +} + +OrientedPoint FSRMovement::movePoint(const OrientedPoint& pt, const FSRMovement& move1) { + OrientedPoint pt2(pt); + pt2.x += move1.f * cos(pt.theta) - move1.s * sin(pt.theta); + pt2.y += move1.f * sin(pt.theta) + move1.s * cos(pt.theta); + pt2.theta = (move1.r + pt.theta); + pt2.normalize(); + return pt2; +} + +FSRMovement FSRMovement::moveBetweenPoints(const OrientedPoint& pt1, + const OrientedPoint& pt2) { + FSRMovement move; + move.f = (pt2.y - pt1.y) * sin(pt1.theta) + (pt2.x - pt1.x) * cos(pt1.theta); + move.s = + (pt2.y - pt1.y) * cos(pt1.theta) - (pt2.x - pt1.x) * sin(pt1.theta); + move.r = (pt2.theta - pt1.theta); + move.normalize(); + return move; + +} + +FSRMovement FSRMovement::invertMove(const FSRMovement& move1) { + FSRMovement p_inv; + p_inv.f = - cos(move1.r) * move1.f - sin(move1.r) * move1.s; + p_inv.s = sin(move1.r) * move1.f - cos(move1.r) * move1.s; + p_inv.r = (-move1.r); + p_inv.normalize(); + return p_inv; +} + + +OrientedPoint FSRMovement::frameTransformation(const OrientedPoint& reference_pt_frame1, + const OrientedPoint& reference_pt_frame2, + const OrientedPoint& pt_frame1) { + OrientedPoint zero; + + FSRMovement itrans_refp1(zero, reference_pt_frame1); + itrans_refp1.invert(); + + FSRMovement trans_refp2(zero, reference_pt_frame2); + FSRMovement trans_pt(zero, pt_frame1); + + FSRMovement tmp = composeMoves( composeMoves(trans_refp2, itrans_refp1), trans_pt); + return tmp.move(zero); +} + + +} diff --git a/src/openslam_gmapping/utils/printmemusage.cpp b/src/openslam_gmapping/utils/printmemusage.cpp new file mode 100644 index 0000000..483bd59 --- /dev/null +++ b/src/openslam_gmapping/utils/printmemusage.cpp @@ -0,0 +1,27 @@ +#include "gmapping/utils/printmemusage.h" + +namespace GMapping{ + +using namespace std; +void printmemusage(){ + pid_t pid=getpid(); + char procfilename[1000]; + sprintf(procfilename, "/proc/%d/status", pid); + ifstream is(procfilename); + string line; + while (is){ + is >> line; + if (line=="VmData:"){ + is >> line; + cerr << "#VmData:\t" << line << endl; + } + if (line=="VmSize:"){ + is >> line; + cerr << "#VmSize:\t" << line << endl; + } + + } +} + +}; + diff --git a/src/openslam_gmapping/utils/stat.cpp b/src/openslam_gmapping/utils/stat.cpp new file mode 100644 index 0000000..30536c4 --- /dev/null +++ b/src/openslam_gmapping/utils/stat.cpp @@ -0,0 +1,278 @@ +#include + +//#include +//#include +//#include +//#include +#include +#include "gmapping/utils/stat.h" + +namespace GMapping { + +#if 0 + +int sampleUniformInt(int max) +{ + return (int)(max*(rand()/(RAND_MAX+1.0))); +} + +double sampleUniformDouble(double min, double max) +{ + return min + (rand() / (double)RAND_MAX) * (max - min); +} + + +#endif + +// Draw randomly from a zero-mean Gaussian distribution, with standard +// deviation sigma. +// We use the polar form of the Box-Muller transformation, explained here: +// http://www.taygeta.com/random/gaussian.html +double pf_ran_gaussian(double sigma) +{ + double x1, x2, w; + double r; + + do + { + do { r = drand48(); } while (r == 0.0); + x1 = 2.0 * r - 1.0; + do { r = drand48(); } while (r == 0.0); + x2 = 2.0 * drand48() - 1.0; + w = x1*x1 + x2*x2; + } while(w > 1.0 || w==0.0); + + return(sigma * x2 * sqrt(-2.0*log(w)/w)); +} + +double sampleGaussian(double sigma, unsigned long int S) { + /* + static gsl_rng * r = NULL; + if(r==NULL) { + gsl_rng_env_setup(); + r = gsl_rng_alloc (gsl_rng_default); + } + */ + if (S!=0) + { + //gsl_rng_set(r, S); + srand48(S); + } + if (sigma==0) + return 0; + //return gsl_ran_gaussian (r,sigma); + return pf_ran_gaussian (sigma); +} +#if 0 + +double evalGaussian(double sigmaSquare, double delta){ + if (sigmaSquare<=0) + sigmaSquare=1e-4; + return exp(-.5*delta*delta/sigmaSquare)/sqrt(2*M_PI*sigmaSquare); +} + +#endif +double evalLogGaussian(double sigmaSquare, double delta){ + if (sigmaSquare<=0) + sigmaSquare=1e-4; + return -.5*delta*delta/sigmaSquare-.5*log(2*M_PI*sigmaSquare); +} +#if 0 + + +Covariance3 Covariance3::zero={0.,0.,0.,0.,0.,0.}; + +Covariance3 Covariance3::operator + (const Covariance3 & cov) const{ + Covariance3 r(*this); + r.xx+=cov.xx; + r.yy+=cov.yy; + r.tt+=cov.tt; + r.xy+=cov.xy; + r.yt+=cov.yt; + r.xt+=cov.xt; + return r; +} + +EigenCovariance3::EigenCovariance3(){} + +EigenCovariance3::EigenCovariance3(const Covariance3& cov){ + static gsl_eigen_symmv_workspace * m_eigenspace=NULL; + static gsl_matrix * m_cmat=NULL; + static gsl_matrix * m_evec=NULL; + static gsl_vector * m_eval=NULL; + static gsl_vector * m_noise=NULL; + static gsl_vector * m_pnoise=NULL; + + if (m_eigenspace==NULL){ + m_eigenspace=gsl_eigen_symmv_alloc(3); + m_cmat=gsl_matrix_alloc(3,3); + m_evec=gsl_matrix_alloc(3,3); + m_eval=gsl_vector_alloc(3); + m_noise=gsl_vector_alloc(3); + m_pnoise=gsl_vector_alloc(3); + } + + gsl_matrix_set(m_cmat,0,0,cov.xx); gsl_matrix_set(m_cmat,0,1,cov.xy); gsl_matrix_set(m_cmat,0,2,cov.xt); + gsl_matrix_set(m_cmat,1,0,cov.xy); gsl_matrix_set(m_cmat,1,1,cov.yy); gsl_matrix_set(m_cmat,1,2,cov.yt); + gsl_matrix_set(m_cmat,2,0,cov.xt); gsl_matrix_set(m_cmat,2,1,cov.yt); gsl_matrix_set(m_cmat,2,2,cov.tt); + gsl_eigen_symmv (m_cmat, m_eval, m_evec, m_eigenspace); + for (int i=0; i<3; i++){ + eval[i]=gsl_vector_get(m_eval,i); + for (int j=0; j<3; j++) + evec[i][j]=gsl_matrix_get(m_evec,i,j); + } +} + +EigenCovariance3 EigenCovariance3::rotate(double angle) const{ + static gsl_matrix * m_rmat=NULL; + static gsl_matrix * m_vmat=NULL; + static gsl_matrix * m_result=NULL; + if (m_rmat==NULL){ + m_rmat=gsl_matrix_alloc(3,3); + m_vmat=gsl_matrix_alloc(3,3); + m_result=gsl_matrix_alloc(3,3); + } + + double c=cos(angle); + double s=sin(angle); + gsl_matrix_set(m_rmat,0,0, c ); gsl_matrix_set(m_rmat,0,1, -s); gsl_matrix_set(m_rmat,0,2, 0.); + gsl_matrix_set(m_rmat,1,0, s ); gsl_matrix_set(m_rmat,1,1, c); gsl_matrix_set(m_rmat,1,2, 0.); + gsl_matrix_set(m_rmat,2,0, 0.); gsl_matrix_set(m_rmat,2,1, 0.); gsl_matrix_set(m_rmat,2,2, 1.); + + for (unsigned int i=0; i<3; i++) + for (unsigned int j=0; j<3; j++) + gsl_matrix_set(m_vmat,i,j,evec[i][j]); + gsl_blas_dgemm (CblasNoTrans, CblasNoTrans, 1., m_rmat, m_vmat, 0., m_result); + EigenCovariance3 ecov(*this); + for (int i=0; i<3; i++){ + for (int j=0; j<3; j++) + ecov.evec[i][j]=gsl_matrix_get(m_result,i,j); + } + return ecov; +} + +OrientedPoint EigenCovariance3::sample() const{ + static gsl_matrix * m_evec=NULL; + static gsl_vector * m_noise=NULL; + static gsl_vector * m_pnoise=NULL; + if (m_evec==NULL){ + m_evec=gsl_matrix_alloc(3,3); + m_noise=gsl_vector_alloc(3); + m_pnoise=gsl_vector_alloc(3); + } + for (int i=0; i<3; i++){ + for (int j=0; j<3; j++) + gsl_matrix_set(m_evec,i,j, evec[i][j]); + } + for (int i=0; i<3; i++){ + double v=sampleGaussian(sqrt(eval[i])); + if(isnan(v)) + v=0; + gsl_vector_set(m_pnoise,i, v); + } + gsl_blas_dgemv (CblasNoTrans, 1., m_evec, m_pnoise, 0, m_noise); + OrientedPoint ret(gsl_vector_get(m_noise,0),gsl_vector_get(m_noise,1),gsl_vector_get(m_noise,2)); + ret.theta=atan2(sin(ret.theta), cos(ret.theta)); + return ret; +} + +#endif + +double Gaussian3::eval(const OrientedPoint& p) const{ + OrientedPoint q=p-mean; + q.theta=atan2(sin(p.theta-mean.theta),cos(p.theta-mean.theta)); + double v1,v2,v3; + v1 = covariance.evec[0][0]*q.x+covariance.evec[1][0]*q.y+covariance.evec[2][0]*q.theta; + v2 = covariance.evec[0][1]*q.x+covariance.evec[1][1]*q.y+covariance.evec[2][1]*q.theta; + v3 = covariance.evec[0][2]*q.x+covariance.evec[1][2]*q.y+covariance.evec[2][2]*q.theta; + return evalLogGaussian(covariance.eval[0], v1)+evalLogGaussian(covariance.eval[1], v2)+evalLogGaussian(covariance.eval[2], v3); +} + +#if 0 +void Gaussian3::computeFromSamples(const std::vector & poses, const std::vector& weights ){ + OrientedPoint mean=OrientedPoint(0,0,0); + double wcum=0; + double s=0, c=0; + std::vector::const_iterator w=weights.begin(); + for (std::vector::const_iterator p=poses.begin(); p!=poses.end(); p++){ + s+=*w*sin(p->theta); + c+=*w*cos(p->theta); + mean.x+=*w*p->x; + mean.y+=*w*p->y; + wcum+=*w; + w++; + } + mean.x/=wcum; + mean.y/=wcum; + s/=wcum; + c/=wcum; + mean.theta=atan2(s,c); + + Covariance3 cov=Covariance3::zero; + w=weights.begin(); + for (std::vector::const_iterator p=poses.begin(); p!=poses.end(); p++){ + OrientedPoint delta=(*p)-mean; + delta.theta=atan2(sin(delta.theta),cos(delta.theta)); + cov.xx+=*w*delta.x*delta.x; + cov.yy+=*w*delta.y*delta.y; + cov.tt+=*w*delta.theta*delta.theta; + cov.xy+=*w*delta.x*delta.y; + cov.yt+=*w*delta.y*delta.theta; + cov.xt+=*w*delta.x*delta.theta; + w++; + } + cov.xx/=wcum; + cov.yy/=wcum; + cov.tt/=wcum; + cov.xy/=wcum; + cov.yt/=wcum; + cov.xt/=wcum; + EigenCovariance3 ecov(cov); + this->mean=mean; + this->covariance=ecov; + this->cov=cov; +} + +void Gaussian3::computeFromSamples(const std::vector & poses){ + OrientedPoint mean=OrientedPoint(0,0,0); + double wcum=1; + double s=0, c=0; + for (std::vector::const_iterator p=poses.begin(); p!=poses.end(); p++){ + s+=sin(p->theta); + c+=cos(p->theta); + mean.x+=p->x; + mean.y+=p->y; + wcum+=1.; + } + mean.x/=wcum; + mean.y/=wcum; + s/=wcum; + c/=wcum; + mean.theta=atan2(s,c); + + Covariance3 cov=Covariance3::zero; + for (std::vector::const_iterator p=poses.begin(); p!=poses.end(); p++){ + OrientedPoint delta=(*p)-mean; + delta.theta=atan2(sin(delta.theta),cos(delta.theta)); + cov.xx+=delta.x*delta.x; + cov.yy+=delta.y*delta.y; + cov.tt+=delta.theta*delta.theta; + cov.xy+=delta.x*delta.y; + cov.yt+=delta.y*delta.theta; + cov.xt+=delta.x*delta.theta; + } + cov.xx/=wcum; + cov.yy/=wcum; + cov.tt/=wcum; + cov.xy/=wcum; + cov.yt/=wcum; + cov.xt/=wcum; + EigenCovariance3 ecov(cov); + this->mean=mean; + this->covariance=ecov; + this->cov=cov; +} +#endif + +}// end namespace + diff --git a/src/openslam_gmapping/utils/stat_test.cpp b/src/openslam_gmapping/utils/stat_test.cpp new file mode 100644 index 0000000..5adcf87 --- /dev/null +++ b/src/openslam_gmapping/utils/stat_test.cpp @@ -0,0 +1,66 @@ +#include +#include +#include +#include "gmapping/utils/stat.h" + +using namespace std; +using namespace GMapping; + +// struct Covariance3{ +// double xx, yy, tt, xy, xt, yt; +// }; + +#define SAMPLES_NUMBER 10000 + +int main(int argc, char** argv){ + Covariance3 cov={1.,0.01,0.01,0,0,0}; + EigenCovariance3 ecov(cov); + cout << "EigenValues: " << ecov.eval[0] << " "<< ecov.eval[1] << " " << ecov.eval[2] << endl; + + cout << "EigenVectors:" < points; + for (unsigned int i=0; i::iterator b = points.begin(); + std::vector::iterator e = points.end(); + Gaussian3 gaussian=computeGaussianFromSamples(b, e); + cov=gaussian.cov; + ecov=gaussian.covariance; + cout << "*************** Estimated with Templates ***************" << endl; + cout << "EigenValues: " << ecov.eval[0] << " "<< ecov.eval[1] << " " << ecov.eval[2] << endl; + cout << "EigenVectors:" <`_) +* fix roslint (`#29 `_) +* Merge pull request `#20 `_ from ros-perception/range_max_check + Add check for range_max +* Add check for range_max +* Contributors: Paul Bovbel, Rein Appeldoorn + +1.4.0 (2017-11-14) +------------------ +* Added inf_epsilon parameter that determines the value added to max range when use_infs parameter is set to false +* Merge pull request `#11 `_ from ros-perception/mikaelarguedas-patch-1 + update to use non deprecated pluginlib macro +* Migrate to package format 2; add roslint +* Add sane parameter defaults; fixup lint warnings +* update to use non deprecated pluginlib macro +* Contributors: Mikael Arguedas, Paul Bovbel, Prasanna Kannappan + +1.3.1 (2017-04-26) +------------------ +* Merge pull request `#4 `_ from yoshimalucky/fix-miscalculation-in-angle-increment + Fixed miscalculation in angle_increment in the launch files. +* fixed miscalculation in angle_increment in the launchfiles. +* Contributors: Paul Bovbel, yoshimalucky + +1.3.0 (2015-06-09) +------------------ +* Fix pointcloud to laserscan transform tolerance issues +* Move pointcloud_to_laserscan to new repository +* Contributors: Paul Bovbel + +1.2.7 (2015-06-08) +------------------ + +* Cleanup pointcloud_to_laserscan launch files +* Contributors: Paul Bovbel + +1.2.6 (2015-02-04) +------------------ +* Fix default value for concurrency +* Fix multithreaded lazy pub sub +* Contributors: Paul Bovbel + +1.2.5 (2015-01-20) +------------------ +* Switch to tf_sensor_msgs for transform +* Set parameters in sample launch files to default +* Add tolerance parameter +* Contributors: Paul Bovbel + +1.2.4 (2015-01-15) +------------------ +* Remove stray dependencies +* Refactor with tf2 and message filters +* Remove roslaunch check +* Fix regressions +* Refactor to allow debug messages from node and nodelet +* Contributors: Paul Bovbel + +1.2.3 (2015-01-10) +------------------ +* add launch tests +* refactor naming and fix nodelet export +* set default target frame to empty +* clean up package.xml +* Contributors: Paul Bovbel + +1.2.2 (2014-10-25) +------------------ +* clean up package.xml +* Fix header reference +* Fix flow +* Fix pointer assertion +* Finalize pointcloud to laserscan +* Initial pointcloud to laserscan commit +* Contributors: Paul Bovbel diff --git a/src/pointcloud_to_laserscan/CMakeLists.txt b/src/pointcloud_to_laserscan/CMakeLists.txt new file mode 100644 index 0000000..5d39d9d --- /dev/null +++ b/src/pointcloud_to_laserscan/CMakeLists.txt @@ -0,0 +1,62 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pointcloud_to_laserscan) + +find_package(catkin REQUIRED COMPONENTS + laser_geometry + message_filters + nodelet + roscpp + sensor_msgs + tf2 + tf2_ros + tf2_sensor_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES laserscan_to_pointcloud pointcloud_to_laserscan + CATKIN_DEPENDS laser_geometry message_filters nodelet roscpp sensor_msgs tf2 tf2_ros tf2_sensor_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(laserscan_to_pointcloud src/laserscan_to_pointcloud_nodelet.cpp) +target_link_libraries(laserscan_to_pointcloud ${catkin_LIBRARIES}) + +add_executable(laserscan_to_pointcloud_node src/laserscan_to_pointcloud_node.cpp) +target_link_libraries(laserscan_to_pointcloud_node laserscan_to_pointcloud ${catkin_LIBRARIES}) + +add_library(pointcloud_to_laserscan src/pointcloud_to_laserscan_nodelet.cpp) +target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES}) + +add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp) +target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES}) + +install(TARGETS + laserscan_to_pointcloud + laserscan_to_pointcloud_node + pointcloud_to_laserscan + pointcloud_to_laserscan_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES nodelets.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +if(CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() +endif() diff --git a/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_nodelet.h b/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_nodelet.h new file mode 100644 index 0000000..60522e4 --- /dev/null +++ b/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/laserscan_to_pointcloud_nodelet.h @@ -0,0 +1,96 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Rein Appeldoorn + */ + +#ifndef POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H +#define POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pointcloud_to_laserscan +{ +typedef tf2_ros::MessageFilter MessageFilter; + +//! \brief The PointCloudToLaserScanNodelet class to process incoming laserscans into pointclouds. +//! +class LaserScanToPointCloudNodelet : public nodelet::Nodelet +{ +public: + LaserScanToPointCloudNodelet(); + +private: + virtual void onInit(); + + void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg); + void failureCallback(const sensor_msgs::LaserScanConstPtr& scan_msg, + tf2_ros::filter_failure_reasons::FilterFailureReason reason); + + void connectCb(); + void disconnectCb(); + + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + ros::Publisher pub_; + boost::mutex connect_mutex_; + + boost::shared_ptr tf2_; + boost::shared_ptr tf2_listener_; + message_filters::Subscriber sub_; + boost::shared_ptr message_filter_; + + laser_geometry::LaserProjection projector_; + + // ROS Parameters + unsigned int input_queue_size_; + std::string target_frame_; + double transform_tolerance_; +}; + +} // namespace pointcloud_to_laserscan + +#endif // POINTCLOUD_TO_LASERSCAN_LASERSCAN_TO_POINTCLOUD_NODELET_H diff --git a/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h b/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h new file mode 100644 index 0000000..930ceba --- /dev/null +++ b/src/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h @@ -0,0 +1,97 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010-2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Paul Bovbel + */ + +#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H +#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pointcloud_to_laserscan +{ +typedef tf2_ros::MessageFilter MessageFilter; +/** +* Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot +* pointcloud_to_laserscan implementation. +*/ +class PointCloudToLaserScanNodelet : public nodelet::Nodelet +{ +public: + PointCloudToLaserScanNodelet(); + +private: + virtual void onInit(); + + void cloudCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg); + void failureCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + tf2_ros::filter_failure_reasons::FilterFailureReason reason); + + void connectCb(); + + void disconnectCb(); + + ros::NodeHandle nh_, private_nh_; + ros::Publisher pub_; + boost::mutex connect_mutex_; + + boost::shared_ptr tf2_; + boost::shared_ptr tf2_listener_; + message_filters::Subscriber sub_; + boost::shared_ptr message_filter_; + + // ROS Parameters + unsigned int input_queue_size_; + std::string target_frame_; + double tolerance_; + double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_; + bool use_inf_; + double inf_epsilon_; +}; + +} // namespace pointcloud_to_laserscan + +#endif // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H diff --git a/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_node.launch b/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_node.launch new file mode 100644 index 0000000..594be32 --- /dev/null +++ b/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_node.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + target_frame: scan # Leave disabled to output pointcloud in scan frame + transform_tolerance: 0.01 + + # Concurrency level, affects number of pointclouds queued for processing and number of threads used + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + + diff --git a/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_nodelet.launch b/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_nodelet.launch new file mode 100644 index 0000000..eca260b --- /dev/null +++ b/src/pointcloud_to_laserscan/launch/sample_laserscan_to_pointcloud_nodelet.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + target_frame: scan # Leave disabled to output pointcloud in scan frame + transform_tolerance: 0.01 + + # Concurrency level, affects number of pointclouds queued for processing and number of threads used + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + + diff --git a/src/pointcloud_to_laserscan/launch/sample_node.launch b/src/pointcloud_to_laserscan/launch/sample_node.launch new file mode 100644 index 0000000..78ffa4d --- /dev/null +++ b/src/pointcloud_to_laserscan/launch/sample_node.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + target_frame: camera_link # Leave disabled to output scan in pointcloud frame + transform_tolerance: 0.01 + min_height: 0.0 + max_height: 1.0 + + angle_min: -1.5708 # -M_PI/2 + angle_max: 1.5708 # M_PI/2 + angle_increment: 0.0087 # M_PI/360.0 + scan_time: 0.3333 + range_min: 0.45 + range_max: 4.0 + use_inf: true + inf_epsilon: 1.0 + + # Concurrency level, affects number of pointclouds queued for processing and number of threads used + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + + diff --git a/src/pointcloud_to_laserscan/launch/sample_nodelet.launch b/src/pointcloud_to_laserscan/launch/sample_nodelet.launch new file mode 100644 index 0000000..ecf5e74 --- /dev/null +++ b/src/pointcloud_to_laserscan/launch/sample_nodelet.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + target_frame: camera_link # Leave disabled to output scan in pointcloud frame + transform_tolerance: 0.01 + min_height: 0.0 + max_height: 1.0 + + angle_min: -1.5708 # -M_PI/2 + angle_max: 1.5708 # M_PI/2 + angle_increment: 0.0087 # M_PI/360.0 + scan_time: 0.3333 + range_min: 0.45 + range_max: 4.0 + use_inf: true + inf_epsilon: 1.0 + + # Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + + + diff --git a/src/pointcloud_to_laserscan/nodelets.xml b/src/pointcloud_to_laserscan/nodelets.xml new file mode 100644 index 0000000..7621c46 --- /dev/null +++ b/src/pointcloud_to_laserscan/nodelets.xml @@ -0,0 +1,23 @@ + + + + + Nodelet to convert sensor_msgs/PointCloud2 to sensor_msgs/LaserScans. + + + + + + + + + + Nodelet to convert sensor_msgs/LaserScan to sensor_msgs/PointCloud2. + + + + diff --git a/src/pointcloud_to_laserscan/package.xml b/src/pointcloud_to_laserscan/package.xml new file mode 100644 index 0000000..7da0f3a --- /dev/null +++ b/src/pointcloud_to_laserscan/package.xml @@ -0,0 +1,34 @@ + + + pointcloud_to_laserscan + 1.4.1 + Converts a 3D Point Cloud into a 2D laser scan. This is useful for making devices like the Kinect appear like a laser scanner for 2D-based algorithms (e.g. laser-based SLAM). + + Paul Bovbel + Michel Hidalgo + Paul Bovbel + Tully Foote + + BSD + + http://ros.org/wiki/perception_pcl + https://github.com/ros-perception/perception_pcl/issues + https://github.com/ros-perception/perception_pcl + + catkin + + laser_geometry + message_filters + nodelet + roscpp + sensor_msgs + tf2 + tf2_ros + tf2_sensor_msgs + + roslint + + + + + diff --git a/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp b/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp new file mode 100644 index 0000000..70c34a8 --- /dev/null +++ b/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_node.cpp @@ -0,0 +1,68 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Rein Appeldoorn + */ + +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "laserscan_to_pointcloud_node"); + ros::NodeHandle private_nh("~"); + int concurrency_level = private_nh.param("concurrency_level", 0); + + nodelet::Loader nodelet; + nodelet::M_string remap(ros::names::getRemappings()); + nodelet::V_string nargv; + std::string nodelet_name = ros::this_node::getName(); + nodelet.load(nodelet_name, "pointcloud_to_laserscan/laserscan_to_pointcloud_nodelet", remap, nargv); + + boost::shared_ptr spinner; + if (concurrency_level) + { + spinner.reset(new ros::MultiThreadedSpinner(static_cast(concurrency_level))); + } + else + { + spinner.reset(new ros::MultiThreadedSpinner()); + } + spinner->spin(); + return 0; +} diff --git a/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_nodelet.cpp b/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_nodelet.cpp new file mode 100644 index 0000000..4f2adc7 --- /dev/null +++ b/src/pointcloud_to_laserscan/src/laserscan_to_pointcloud_nodelet.cpp @@ -0,0 +1,155 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Eurotec, Netherlands + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Rein Appeldoorn + */ + +#include +#include +#include +#include +#include +#include + +namespace pointcloud_to_laserscan +{ +LaserScanToPointCloudNodelet::LaserScanToPointCloudNodelet() +{ +} + +void LaserScanToPointCloudNodelet::onInit() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + private_nh_ = getPrivateNodeHandle(); + + private_nh_.param("target_frame", target_frame_, ""); + private_nh_.param("transform_tolerance", transform_tolerance_, 0.01); + + int concurrency_level = private_nh_.param("concurrency_level", concurrency_level); + + // Check if explicitly single threaded, otherwise, let nodelet manager dictate thread pool size + if (concurrency_level == 1) + { + nh_ = getNodeHandle(); + } + else + { + nh_ = getMTNodeHandle(); + } + + // Only queue one pointcloud per running thread + if (concurrency_level > 0) + { + input_queue_size_ = static_cast(concurrency_level); + } + else + { + input_queue_size_ = boost::thread::hardware_concurrency(); + } + + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) + { + tf2_.reset(new tf2_ros::Buffer()); + tf2_listener_.reset(new tf2_ros::TransformListener(*tf2_)); + message_filter_.reset(new MessageFilter(sub_, *tf2_, target_frame_, input_queue_size_, nh_)); + message_filter_->registerCallback(boost::bind(&LaserScanToPointCloudNodelet::scanCallback, this, _1)); + message_filter_->registerFailureCallback(boost::bind(&LaserScanToPointCloudNodelet::failureCallback, this, _1, _2)); + } + else // otherwise setup direct subscription + { + sub_.registerCallback(boost::bind(&LaserScanToPointCloudNodelet::scanCallback, this, _1)); + } + + pub_ = + nh_.advertise("cloud", 10, boost::bind(&LaserScanToPointCloudNodelet::connectCb, this), + boost::bind(&LaserScanToPointCloudNodelet::disconnectCb, this)); +} + +void LaserScanToPointCloudNodelet::connectCb() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + if (pub_.getNumSubscribers() > 0 && sub_.getSubscriber().getNumPublishers() == 0) + { + NODELET_INFO("Got a subscriber to cloud, starting laserscan subscriber"); + sub_.subscribe(nh_, "scan_in", input_queue_size_); + } +} + +void LaserScanToPointCloudNodelet::disconnectCb() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + if (pub_.getNumSubscribers() == 0) + { + NODELET_INFO("No subscibers to cloud, shutting down subscriber to laserscan"); + sub_.unsubscribe(); + } +} + +void LaserScanToPointCloudNodelet::failureCallback(const sensor_msgs::LaserScanConstPtr& scan_msg, + tf2_ros::filter_failure_reasons::FilterFailureReason reason) +{ + NODELET_WARN_STREAM_THROTTLE(1.0, "Can't transform laserscan from frame " << scan_msg->header.frame_id << " to " + << message_filter_->getTargetFramesString() + << " at time " << scan_msg->header.stamp + << ", reason: " << reason); +} + +void LaserScanToPointCloudNodelet::scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg) +{ + sensor_msgs::PointCloud2Ptr scan_cloud; + scan_cloud.reset(new sensor_msgs::PointCloud2); + projector_.projectLaser(*scan_msg, *scan_cloud); + + // Transform cloud if necessary + if (!target_frame_.empty() && scan_cloud->header.frame_id != target_frame_) + { + try + { + *scan_cloud = tf2_->transform(*scan_cloud, target_frame_); + } + catch (tf2::TransformException& ex) + { + NODELET_ERROR_STREAM("Transform failure: " << ex.what()); + return; + } + } + pub_.publish(*scan_cloud); +} +} // namespace pointcloud_to_laserscan + +PLUGINLIB_EXPORT_CLASS(pointcloud_to_laserscan::LaserScanToPointCloudNodelet, nodelet::Nodelet) diff --git a/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp b/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp new file mode 100644 index 0000000..013b064 --- /dev/null +++ b/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp @@ -0,0 +1,69 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010-2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Paul Bovbel + */ + +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pointcloud_to_laserscan_node"); + ros::NodeHandle private_nh("~"); + int concurrency_level; + private_nh.param("concurrency_level", concurrency_level, 0); + + nodelet::Loader nodelet; + nodelet::M_string remap(ros::names::getRemappings()); + nodelet::V_string nargv; + std::string nodelet_name = ros::this_node::getName(); + nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv); + + boost::shared_ptr spinner; + if (concurrency_level) + { + spinner.reset(new ros::MultiThreadedSpinner(concurrency_level)); + } + else + { + spinner.reset(new ros::MultiThreadedSpinner()); + } + spinner->spin(); + return 0; +} diff --git a/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp b/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp new file mode 100644 index 0000000..184ff7e --- /dev/null +++ b/src/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp @@ -0,0 +1,247 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010-2012, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + * + * + */ + +/* + * Author: Paul Bovbel + */ + +#include +#include +#include +#include +#include +#include +#include + +namespace pointcloud_to_laserscan +{ +PointCloudToLaserScanNodelet::PointCloudToLaserScanNodelet() +{ +} + +void PointCloudToLaserScanNodelet::onInit() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + private_nh_ = getPrivateNodeHandle(); + + private_nh_.param("target_frame", target_frame_, ""); + private_nh_.param("transform_tolerance", tolerance_, 0.01); + private_nh_.param("min_height", min_height_, std::numeric_limits::min()); + private_nh_.param("max_height", max_height_, std::numeric_limits::max()); + + private_nh_.param("angle_min", angle_min_, -M_PI); + private_nh_.param("angle_max", angle_max_, M_PI); + private_nh_.param("angle_increment", angle_increment_, M_PI / 180.0); + private_nh_.param("scan_time", scan_time_, 1.0 / 30.0); + private_nh_.param("range_min", range_min_, 0.0); + private_nh_.param("range_max", range_max_, std::numeric_limits::max()); + private_nh_.param("inf_epsilon", inf_epsilon_, 1.0); + + int concurrency_level; + private_nh_.param("concurrency_level", concurrency_level, 1); + private_nh_.param("use_inf", use_inf_, true); + + // Check if explicitly single threaded, otherwise, let nodelet manager dictate thread pool size + if (concurrency_level == 1) + { + nh_ = getNodeHandle(); + } + else + { + nh_ = getMTNodeHandle(); + } + + // Only queue one pointcloud per running thread + if (concurrency_level > 0) + { + input_queue_size_ = concurrency_level; + } + else + { + input_queue_size_ = boost::thread::hardware_concurrency(); + } + + // if pointcloud target frame specified, we need to filter by transform availability + if (!target_frame_.empty()) + { + tf2_.reset(new tf2_ros::Buffer()); + tf2_listener_.reset(new tf2_ros::TransformListener(*tf2_)); + message_filter_.reset(new MessageFilter(sub_, *tf2_, target_frame_, input_queue_size_, nh_)); + message_filter_->registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1)); + message_filter_->registerFailureCallback(boost::bind(&PointCloudToLaserScanNodelet::failureCb, this, _1, _2)); + } + else // otherwise setup direct subscription + { + sub_.registerCallback(boost::bind(&PointCloudToLaserScanNodelet::cloudCb, this, _1)); + } + + pub_ = nh_.advertise("scan", 10, boost::bind(&PointCloudToLaserScanNodelet::connectCb, this), + boost::bind(&PointCloudToLaserScanNodelet::disconnectCb, this)); +} + +void PointCloudToLaserScanNodelet::connectCb() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + if (pub_.getNumSubscribers() > 0 && sub_.getSubscriber().getNumPublishers() == 0) + { + NODELET_INFO("Got a subscriber to scan, starting subscriber to pointcloud"); + sub_.subscribe(nh_, "cloud_in", input_queue_size_); + } +} + +void PointCloudToLaserScanNodelet::disconnectCb() +{ + boost::mutex::scoped_lock lock(connect_mutex_); + if (pub_.getNumSubscribers() == 0) + { + NODELET_INFO("No subscibers to scan, shutting down subscriber to pointcloud"); + sub_.unsubscribe(); + } +} + +void PointCloudToLaserScanNodelet::failureCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + tf2_ros::filter_failure_reasons::FilterFailureReason reason) +{ + NODELET_WARN_STREAM_THROTTLE(1.0, "Can't transform pointcloud from frame " << cloud_msg->header.frame_id << " to " + << message_filter_->getTargetFramesString() + << " at time " << cloud_msg->header.stamp + << ", reason: " << reason); +} + +void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg) +{ + // build laserscan output + sensor_msgs::LaserScan output; + output.header = cloud_msg->header; + if (!target_frame_.empty()) + { + output.header.frame_id = target_frame_; + } + + output.angle_min = angle_min_; + output.angle_max = angle_max_; + output.angle_increment = angle_increment_; + output.time_increment = 0.0; + output.scan_time = scan_time_; + output.range_min = range_min_; + output.range_max = range_max_; + + // determine amount of rays to create + uint32_t ranges_size = std::ceil((output.angle_max - output.angle_min) / output.angle_increment); + + // determine if laserscan rays with no obstacle data will evaluate to infinity or max_range + if (use_inf_) + { + output.ranges.assign(ranges_size, std::numeric_limits::infinity()); + } + else + { + output.ranges.assign(ranges_size, output.range_max + inf_epsilon_); + } + + sensor_msgs::PointCloud2ConstPtr cloud_out; + sensor_msgs::PointCloud2Ptr cloud; + + // Transform cloud if necessary + if (!(output.header.frame_id == cloud_msg->header.frame_id)) + { + try + { + cloud.reset(new sensor_msgs::PointCloud2); + tf2_->transform(*cloud_msg, *cloud, target_frame_, ros::Duration(tolerance_)); + cloud_out = cloud; + } + catch (tf2::TransformException& ex) + { + NODELET_ERROR_STREAM("Transform failure: " << ex.what()); + return; + } + } + else + { + cloud_out = cloud_msg; + } + + // Iterate through pointcloud + for (sensor_msgs::PointCloud2ConstIterator iter_x(*cloud_out, "x"), iter_y(*cloud_out, "y"), + iter_z(*cloud_out, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) + { + if (std::isnan(*iter_x) || std::isnan(*iter_y) || std::isnan(*iter_z)) + { + NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", *iter_x, *iter_y, *iter_z); + continue; + } + + if (*iter_z > max_height_ || *iter_z < min_height_) + { + NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n", *iter_z, min_height_, max_height_); + continue; + } + + double range = hypot(*iter_x, *iter_y); + if (range < range_min_) + { + NODELET_DEBUG("rejected for range %f below minimum value %f. Point: (%f, %f, %f)", range, range_min_, *iter_x, + *iter_y, *iter_z); + continue; + } + if (range > range_max_) + { + NODELET_DEBUG("rejected for range %f above maximum value %f. Point: (%f, %f, %f)", range, range_max_, *iter_x, + *iter_y, *iter_z); + continue; + } + + double angle = atan2(*iter_y, *iter_x); + if (angle < output.angle_min || angle > output.angle_max) + { + NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max); + continue; + } + + // overwrite range at laserscan ray if new range is smaller + int index = (angle - output.angle_min) / output.angle_increment; + if (range < output.ranges[index]) + { + output.ranges[index] = range; + } + } + pub_.publish(output); +} +} // namespace pointcloud_to_laserscan + +PLUGINLIB_EXPORT_CLASS(pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet) diff --git a/src/slam_gmapping/.gitignore b/src/slam_gmapping/.gitignore new file mode 100644 index 0000000..23255e5 --- /dev/null +++ b/src/slam_gmapping/.gitignore @@ -0,0 +1,11 @@ +.cproject +.project +.pydevproject +cmake_install.cmake +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +*.pyc +*~ diff --git a/src/slam_gmapping/.travis.yml b/src/slam_gmapping/.travis.yml new file mode 100644 index 0000000..b2d40b6 --- /dev/null +++ b/src/slam_gmapping/.travis.yml @@ -0,0 +1,45 @@ + +# this is .traivs.yml written by - + +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/devel_jobs.rst +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst +# while this doesn't require sudo we don't want to run within a Docker container +sudo: true +dist: trusty +language: python +python: + - "3.6" +env: + global: + - JOB_PATH=/tmp/devel_job + - ABORT_ON_TEST_FAILURE=1 + matrix: + - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 + - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64 + - ROS_DISTRO_NAME=noetic OS_NAME=ubuntu OS_CODE_NAME=focal ARCH=amd64 +# matrix: +# allow_failures: +# - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 +install: + # either install the latest released version of ros_buildfarm + - pip install ros_buildfarm + # or checkout a specific branch + #- git clone -b master https://github.com/ros-infrastructure/ros_buildfarm /tmp/ros_buildfarm + #- pip install /tmp/ros_buildfarm + # checkout catkin for catkin_test_results script + - git clone https://github.com/ros/catkin /tmp/catkin + # run devel job for a ROS repository with the same name as this repo + - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR` + # use the code already checked out by Travis + - mkdir -p $JOB_PATH/ws/src + - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/ws/src/ + # generate the script to run a pre-release job for that target and repo + - generate_prerelease_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir $JOB_PATH + # run the actual job which involves Docker + - cd $JOB_PATH; sh ./prerelease.sh -y +script: + # get summary of test results + - /tmp/catkin/bin/catkin_test_results $JOB_PATH/ws/test_results --all +notifications: + email: false + diff --git a/src/slam_gmapping/README.md b/src/slam_gmapping/README.md new file mode 100644 index 0000000..04be513 --- /dev/null +++ b/src/slam_gmapping/README.md @@ -0,0 +1,2 @@ +slam_gmapping [![Build Status](https://travis-ci.com/ros-perception/slam_gmapping.svg?branch=melodic-devel)](https://travis-ci.org/ros-perception/slam_gmapping) +================================================================================================================================================================ diff --git a/src/slam_gmapping/gmapping/CHANGELOG.rst b/src/slam_gmapping/gmapping/CHANGELOG.rst new file mode 100644 index 0000000..0a8348e --- /dev/null +++ b/src/slam_gmapping/gmapping/CHANGELOG.rst @@ -0,0 +1,202 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package gmapping +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.4.2 (2020-10-02) +------------------ +* change find_package(Boost REQUIRED signales) to find_package(Boost REQUIRED) for noteic (`#84 `_) +* Contributors: Kei Okada + +1.4.1 (2020-03-16) +------------------ +* Merge pull request `#85 `_ from k-okada/install_nodelet + install slam_gmapping_nodelet +* Merge pull request `#87 `_ from acxz/patch-1 + remove signals dep +* remove signals dep + signals is included in boost > 1.70 +* install slam_gmapping_nodelet +* Contributors: Kei Okada, Michael Ferguson, acxz + +1.4.0 (2019-07-12) +------------------ +* update license to BSD and maintainer to ros-orphaned-packages@googlegroups.com + since original gmapping source and ROS openslam_gmapping package has been updated to the BSD-3 license, I think we have no reason to use CC for slam_gmapping package +* Contributors: Kei Okada + +1.3.10 (2018-01-23) +------------------- +* Install nodelet plugin descriptor file. (`#56 `_) +* Contributors: Mikael Arguedas, gavanderhoorn + +1.3.9 (2017-10-22) +------------------ +* remove unused file +* add missing nodelet dependency to find_package +* make rostest in CMakeLists optional (`ros/rosdistro#3010 `_) +* Add nodelet implementation. (`#41 `_) + * Add nodelet implementation. + Add additional nodelet layer to mirror the node + implementation. This allows the Slam GMapping + library to be run as a nodelet instead. This + would allow you to, for example, run it under + the same nodelet manager as the nodelet producing + the /scan output for greater efficiency. + * Remove superfluous semicolons + Removed superfluous semicolons and + mildly clarified info stream output. +* fix comment, change type from double to int (`#40 `_) + * fix comment, change type from double to int + * fix comment, iterations param is not double but int +* Contributors: David Hodo, Kevin Wells, Lukas Bulwahn, Oscar Lima, Vincent Rabaud + +1.3.8 (2015-07-31) +------------------ +* fix a test that would take too long sometimes +* better verbosity +* add a test for upside down lasers +* add a test for symmetry +* make sure the laser sent to gmapping is always centered +* do not display warning message if scan is processed at some point +* Contributors: Vincent Rabaud + +1.3.7 (2015-07-04) +------------------ +* get replay to behave like live processing +* Contributors: Vincent Rabaud + +1.3.6 (2015-06-26) +------------------ +* Don't crash on exit from replay. +* replay: Add "on_done" command line parameter. + Example usage: + ros run gmapping slam_gmapping_replay --scan_topic=/scan --bag_filename=/tmp/in.bag --on_done "rosrun map_server map_saver -f foo" _particles:=100 _maxUrange:=10 +* replay: Handle order-of-data-in-bag-file issues better at startup. + Silently discard scans at startup that arrive prior to the TF frames + required by those scans. + TF can't interpolate from non-existant data, so discard scans that + arrive with timestamps prior to the first TF frame. We do this + expediently by discarding laser scans that throw + ExtrapolationException's until/unless we successfully process our first + scan. + Similarly, ignore LookupException's at startup. +* Fix indexing error for inverting scan. +* add test dependencies +* get replay test to pass +* rename test +* fixing include order + removing pointer for Gmapping object +* Minor Fix thanks to vrabaud comments +* [new feature] replay on bag file + The aim is to provide a way to get exactly the same map after running + gmapping multiple times on the same rosbag file. It wasn't possible with the + tool 'rosbag play', indeed one missing laser scan could provide really + different results. + Moreover, this modification allow to process rosbag offline at the maximum + speed with the guarantee that all lasers scans are processed. It is + useful in automatic tests and when finding optimal gmapping parameters with a script. + Example usage: + rosrun gmapping slam_gmapping_replay --scan_topic=/scan --bag_filename=/tmp/in.bag _particles:=100 _maxUrange:=10 + more options: + rosrun gmapping slam_gmapping_replay --help +* spliting init and constructor + The objective is to allow future handling of replay offline rosbag files. + This commit also add a variable for the seed, with the objective is to allow to + have repeateable run (for future offline rosbag replay) +* Added cfloat include +* Change arbitrary constant to FLT_EPSILON +* Added check that scan goes from -x to x +* Contributors: Laurent GEORGE, Patrick Doyle, Qiao Huang, Vincent Rabaud, Windel Bouwman + +1.3.5 (2014-08-28) +------------------ +* Fixed typo in slam_gmapping_pr2.launch + Fixed a typo in the launchfile in the parameter "map_update_interval". +* Contributors: DaMalo + +1.3.4 (2014-08-07) +------------------ +* Reenabled temporal update in slam_gmapping.cpp +* Contributors: DaMalo + +1.3.3 (2014-06-23) +------------------ +* Adding the ability to set openslam_gmapping miminumScore through the ros parameter minimumScore +* Contributors: Koen Lekkerkerker, William Woodall + +1.3.2 (2014-01-14) +------------------ +* Contributors: Vincent Rabaud + +1.3.1 (2014-01-13) +------------------ +* Fix usage of scoped locks so that they are not immediately destroyed. + fixes `#11 `_ +* check for CATKIN_ENABLE_TESTING +* Contributors: Lukas Bulwahn, Stefan Kohlbrecher, William Woodall + +1.3.0 (2013-06-28) +------------------ +* Renamed to gmapping, adding metapackage for slam_gmapping +* catkinize slam_gmapping +* Changed reference frame from base to laser to account for upside down and/or back facing laserscanners. + - Added a check if the scanner is facing down + - Added a safety check if the scanner is aligned planar + - Made laserscan min- and max-angles global as they are needed later for scanners with a negative angle-increment + - Replaced the base->laser pose for gmapping with the identity transform and included the base->laser part into the gmap_pose + - Removed a transform-lookup from the map->odom transformation process as it is not needed anymore + These changes should make gmapping more robust against laserscanners that are mounted upside down, facing backwards or are rotating counter-clockwise. + It will also allow gmapping to work with panning laserscanners, since the transform base->laser is no longer considered fixed. +* Fix poorly formed paths in patches + These patches won't apply in Fedora because they contain "..", which is considered "unsafe" +* Fixed test files to use the new rosbag command layout. +* Respect tf_prefix when sending maps +* Fixed tf expiration +* Added tf_delay param +* Add gcc 4.7 patch and Precise support by removing wiped during installed +* Oneiric linker fixes, bump version to 1.2.6 +* Convert to not use bullet datatypes directly +* Rejiggered linker lines to accommodate Oneiric's stricter linker behavior. +* Now uses angle_increment provided in laser scan message, instead of computing it myself (not sure why I was doing that, anyway), `#4730 `_ +* Applied patch to avoid assert when laser gives varying number of beams per + scan, `#4856 `_. Added the bag from that ticket as a test case. +* Applied patch from `#4984 `_ to fix occ grid generation with lasers that provide scans in reverse order +* Applied patch from `#4583 `_ with misc fixes to our patch against gmapping +* Excluded test program from all build +* Applied typo fix from Maurice Fallon +* Added Ubuntu platform tags to manifest +* Removed unused inverted_laser parameter +* Added transform logic necessary to account for non-horizontal lasers. This + change is intended to handle upside-down lasers, but should also work for + non-planar lasers (as long as the vertical structure of the environment is + continuous), `#3052 `_. I tested minimally with a hacked version of Stage, but + this functionality still needs to be validated on data from a real robot + with an upside-down laser. +* Reindexed bag used in testing +* Added publication of entropy +* add entropy computation method +* Added occ_thresh parameter +* Turning time based updates off by default +* Updating so that gmapping updates on a timer when not moving. Added the temporalUpdate parameter and updated docs. +* Updated md5sums for new bags +* Threading publishing of transforms so that they are published regularly regardless of how long map updates take. +* Updated patch to fix gcc 4.4 warning, and made top-level Makefile call through to Makefile.gmapping on clean +* Updating to work with the navigation stack. Now publishes header information on map messages. +* Applied patch to update tf usage, `#3457 `_ +* Remove use of deprecated rosbuild macros +* Removed unused parameter +* Fix the position gmapping gives to the map's info. Was trying to center the map on the origin, when it should just have been using the world positiong of the map's origin (`#3037 `_) +* Added doc cleared to manifest +* Switched sleep to WallDuration, to avoid getting stuck after rosplay has run out of time data to publish +* Converted from tf::MessageNotifier to tf::MessageFilter. +* Reverted accidental change to CMakeLists.txt +* Added advertisement and publication of MapMetaData (docs are updated to + match). Added minimal test for the resulting map. Updated local params to use + NodeHandle("~"). +* Added latched topic version of map, API cleared +* Updated manifest to explain version that we're using +* Remove ros/node.h inclusion +* tf publishes on new topic: \tf. See ticket `#2381 `_ +* Merging in changes from reorgnization of laser pipeline. +* removed redundant code (getOdomPose) that could result in unnecessary warnings +* Contributors: Ben Struss, Dave Hershberger, Dereck Wonnacott, Mike Ferguson, Scott K Logan, Vincent Rabaud, William Woodall, duhadway-bosch, eitan, gerkey, jfaust, jleibs, kwc, meeussen, vrabaud, wheeler diff --git a/src/slam_gmapping/gmapping/CMakeLists.txt b/src/slam_gmapping/gmapping/CMakeLists.txt new file mode 100644 index 0000000..04f3c8d --- /dev/null +++ b/src/slam_gmapping/gmapping/CMakeLists.txt @@ -0,0 +1,94 @@ +cmake_minimum_required(VERSION 2.8) +project(gmapping) + +find_package(catkin REQUIRED nav_msgs nodelet openslam_gmapping roscpp tf rosbag_storage) + +find_package(Boost REQUIRED) + +include_directories(${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}) + +include_directories(src) + +catkin_package() + +add_executable(slam_gmapping src/slam_gmapping.cpp src/main.cpp) +target_link_libraries(slam_gmapping ${Boost_LIBRARIES} ${catkin_LIBRARIES}) +if(catkin_EXPORTED_TARGETS) + add_dependencies(slam_gmapping ${catkin_EXPORTED_TARGETS}) +endif() + +add_library(slam_gmapping_nodelet src/slam_gmapping.cpp src/nodelet.cpp) +target_link_libraries(slam_gmapping_nodelet ${catkin_LIBRARIES}) + +add_executable(slam_gmapping_replay src/slam_gmapping.cpp src/replay.cpp) +target_link_libraries(slam_gmapping_replay ${Boost_LIBRARIES} ${catkin_LIBRARIES}) +if(catkin_EXPORTED_TARGETS) +add_dependencies(slam_gmapping_replay ${catkin_EXPORTED_TARGETS}) +endif() + +install(TARGETS slam_gmapping slam_gmapping_nodelet slam_gmapping_replay + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES nodelet_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + if(TARGET tests) + add_executable(gmapping-rtest EXCLUDE_FROM_ALL test/rtest.cpp) + target_link_libraries(gmapping-rtest ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) + add_dependencies(tests gmapping-rtest) + endif() + + # Need to make the tests more robust; currently the output map can differ + # substantially between runs. + catkin_download_test_data( + ${PROJECT_NAME}_basic_localization_stage_indexed.bag + http://download.ros.org/data/gmapping/basic_localization_stage_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 322a0014f47bcfbb0ad16a317738b0dc) + catkin_download_test_data( + ${PROJECT_NAME}_hallway_slow_2011-03-04-21-41-33.bag + http://download.ros.org/data/gmapping/hallway_slow_2011-03-04-21-41-33.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 e772b89713693adc610f4c5b96f5dc03) + catkin_download_test_data( + ${PROJECT_NAME}_basic_localization_stage_groundtruth.pgm + http://download.ros.org/data/gmapping/basic_localization_stage_groundtruth.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 abf208f721053915145215b18c98f9b3) + catkin_download_test_data( + ${PROJECT_NAME}_test_replay_crash.bag + https://github.com/ros-perception/slam_gmapping_test_data/raw/master/test_replay_crash.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 bb0e086207eb4fccf0b13d3406f610a1) + catkin_download_test_data( + ${PROJECT_NAME}_test_turtlebot.bag + https://github.com/ros-perception/slam_gmapping_test_data/raw/master/test_turtlebot.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 402e1e5f7c00445d2a446e58e3151830) + catkin_download_test_data( + ${PROJECT_NAME}_test_upside_down.bag + https://github.com/ros-perception/slam_gmapping_test_data/raw/master/test_upside_down.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 3b026a2144ec14f3fdf218b5c7077d54) + set(LOCAL_DEPENDENCIES gmapping-rtest ${PROJECT_NAME}_basic_localization_stage_indexed.bag + ${PROJECT_NAME}_test_replay_crash.bag + ${PROJECT_NAME}_test_turtlebot.bag + ${PROJECT_NAME}_test_upside_down.bag + ${PROJECT_NAME}_hallway_slow_2011-03-04-21-41-33.bag + ${PROJECT_NAME}_basic_localization_stage_groundtruth.pgm + slam_gmapping + slam_gmapping_replay + ) + add_rostest(test/basic_localization_stage.launch DEPENDENCIES ${LOCAL_DEPENDENCIES}) + add_rostest(test/basic_localization_stage_replay.launch DEPENDENCIES ${LOCAL_DEPENDENCIES}) + add_rostest(test/basic_localization_stage_replay2.launch DEPENDENCIES ${LOCAL_DEPENDENCIES}) + add_rostest(test/basic_localization_symmetry.launch DEPENDENCIES ${LOCAL_DEPENDENCIES}) + add_rostest(test/basic_localization_upside_down.launch DEPENDENCIES ${LOCAL_DEPENDENCIES}) + add_rostest(test/basic_localization_laser_different_beamcount.test DEPENDENCIES ${LOCAL_DEPENDENCIES}) +endif() diff --git a/src/slam_gmapping/gmapping/launch/slam_gmapping_pr2.launch b/src/slam_gmapping/gmapping/launch/slam_gmapping_pr2.launch new file mode 100644 index 0000000..e33e190 --- /dev/null +++ b/src/slam_gmapping/gmapping/launch/slam_gmapping_pr2.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/slam_gmapping/gmapping/nodelet_plugins.xml b/src/slam_gmapping/gmapping/nodelet_plugins.xml new file mode 100644 index 0000000..5d7f34d --- /dev/null +++ b/src/slam_gmapping/gmapping/nodelet_plugins.xml @@ -0,0 +1,7 @@ + + + + Nodelet ROS wrapper for OpenSlam's Gmapping. + + + diff --git a/src/slam_gmapping/gmapping/package.xml b/src/slam_gmapping/gmapping/package.xml new file mode 100644 index 0000000..f7ae0cd --- /dev/null +++ b/src/slam_gmapping/gmapping/package.xml @@ -0,0 +1,34 @@ + + gmapping + 1.4.2 + This package contains a ROS wrapper for OpenSlam's Gmapping. + The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), + as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy + grid map (like a building floorplan) from laser and pose data collected by a mobile robot. + + Brian Gerkey + ROS Orphaned Package Maintainers + BSD + Apache 2.0 + + http://ros.org/wiki/gmapping + + catkin + + nav_msgs + openslam_gmapping + roscpp + rostest + tf + nodelet + + nav_msgs + openslam_gmapping + roscpp + tf + nodelet + + + + + diff --git a/src/slam_gmapping/gmapping/src/main.cpp b/src/slam_gmapping/gmapping/src/main.cpp new file mode 100644 index 0000000..e692e74 --- /dev/null +++ b/src/slam_gmapping/gmapping/src/main.cpp @@ -0,0 +1,47 @@ +/* + * slam_gmapping + * Copyright (c) 2008, Willow Garage, Inc. + * + * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER 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. + * + */ + +/* Author: Brian Gerkey */ + +#include + +#include "slam_gmapping.h" + +int +main(int argc, char** argv) +{ + ros::init(argc, argv, "slam_gmapping"); + + SlamGMapping gn; + gn.startLiveSlam(); + ros::spin(); + + return(0); +} + diff --git a/src/slam_gmapping/gmapping/src/nodelet.cpp b/src/slam_gmapping/gmapping/src/nodelet.cpp new file mode 100644 index 0000000..8bcebb2 --- /dev/null +++ b/src/slam_gmapping/gmapping/src/nodelet.cpp @@ -0,0 +1,55 @@ +/* + * slam_gmapping + * Copyright (c) 2008, Willow Garage, Inc. + * + * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER 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. + * + */ + +#include +#include +#include + +#include "slam_gmapping.h" + +class SlamGMappingNodelet : public nodelet::Nodelet +{ + public: + SlamGMappingNodelet() {} + + ~SlamGMappingNodelet() {} + + virtual void onInit() + { + NODELET_INFO_STREAM("Initialising Slam GMapping nodelet..."); + sg_.reset(new SlamGMapping(getNodeHandle(), getPrivateNodeHandle())); + NODELET_INFO_STREAM("Starting live SLAM..."); + sg_->startLiveSlam(); + } + + private: + boost::shared_ptr sg_; +}; + +PLUGINLIB_EXPORT_CLASS(SlamGMappingNodelet, nodelet::Nodelet) diff --git a/src/slam_gmapping/gmapping/src/replay.cpp b/src/slam_gmapping/gmapping/src/replay.cpp new file mode 100644 index 0000000..f2c71b8 --- /dev/null +++ b/src/slam_gmapping/gmapping/src/replay.cpp @@ -0,0 +1,88 @@ +/* + * Copyright 2015 Aldebaran + * + * 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. + * +*/ +#include "slam_gmapping.h" + +#include +#include + +#include +#include + +int +main(int argc, char** argv) +{ + /** Define and parse the program options + */ + namespace po = boost::program_options; + po::options_description desc("Options"); + desc.add_options() + ("help", "Print help messages") + ("scan_topic", po::value()->default_value("/scan") ,"topic that contains the laserScan in the rosbag") + ("bag_filename", po::value()->required(), "ros bag filename") + ("seed", po::value()->default_value(0), "seed") + ("max_duration_buffer", po::value()->default_value(99999), "max tf buffer duration") + ("on_done", po::value(), "command to execute when done") ; + + po::variables_map vm; + try + { + po::store(po::parse_command_line(argc, argv, desc), + vm); // can throw + + /** --help option + */ + if ( vm.count("help") ) + { + std::cout << "Basic Command Line Parameter App" << std::endl + << desc << std::endl; + return 0; + } + + po::notify(vm); // throws on error, so do after help in case + // there are any problems + } + catch(po::error& e) + { + std::cerr << "ERROR: " << e.what() << std::endl << std::endl; + std::cerr << desc << std::endl; + return -1; + } + + std::string bag_fname = vm["bag_filename"].as(); + std::string scan_topic = vm["scan_topic"].as(); + unsigned long int seed = vm["seed"].as(); + unsigned long int max_duration_buffer = vm["max_duration_buffer"].as(); + + ros::init(argc, argv, "slam_gmapping"); + SlamGMapping gn(seed, max_duration_buffer) ; + gn.startReplay(bag_fname, scan_topic); + ROS_INFO("replay stopped."); + + if ( vm.count("on_done") ) + { + // Run the "on_done" command and then exit + system(vm["on_done"].as().c_str()); + } + else + { + ros::spin(); // wait so user can save the map + } + return(0); + + +} + diff --git a/src/slam_gmapping/gmapping/src/slam_gmapping.cpp b/src/slam_gmapping/gmapping/src/slam_gmapping.cpp new file mode 100644 index 0000000..6516cd4 --- /dev/null +++ b/src/slam_gmapping/gmapping/src/slam_gmapping.cpp @@ -0,0 +1,804 @@ +/* + * slam_gmapping + * Copyright (c) 2008, Willow Garage, Inc. + * + * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER 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. + * + */ + +/* Author: Brian Gerkey */ +/* Modified by: Charles DuHadway */ + + +/** + +@mainpage slam_gmapping + +@htmlinclude manifest.html + +@b slam_gmapping is a wrapper around the GMapping SLAM library. It reads laser +scans and odometry and computes a map. This map can be +written to a file using e.g. + + "rosrun map_server map_saver static_map:=dynamic_map" + +
+ +@section topic ROS topics + +Subscribes to (name/type): +- @b "scan"/sensor_msgs/LaserScan : data from a laser range scanner +- @b "/tf": odometry from the robot + + +Publishes to (name/type): +- @b "/tf"/tf/tfMessage: position relative to the map + + +@section services + - @b "~dynamic_map" : returns the map + + +@section parameters ROS parameters + +Reads the following parameters from the parameter server + +Parameters used by our GMapping wrapper: + +- @b "~throttle_scans": @b [int] throw away every nth laser scan +- @b "~base_frame": @b [string] the tf frame_id to use for the robot base pose +- @b "~map_frame": @b [string] the tf frame_id where the robot pose on the map is published +- @b "~odom_frame": @b [string] the tf frame_id from which odometry is read +- @b "~map_update_interval": @b [double] time in seconds between two recalculations of the map + + +Parameters used by GMapping itself: + +Laser Parameters: +- @b "~/maxRange" @b [double] maximum range of the laser scans. Rays beyond this range get discarded completely. (default: maximum laser range minus 1 cm, as received in the the first LaserScan message) +- @b "~/maxUrange" @b [double] maximum range of the laser scanner that is used for map building (default: same as maxRange) +- @b "~/sigma" @b [double] standard deviation for the scan matching process (cell) +- @b "~/kernelSize" @b [int] search window for the scan matching process +- @b "~/lstep" @b [double] initial search step for scan matching (linear) +- @b "~/astep" @b [double] initial search step for scan matching (angular) +- @b "~/iterations" @b [int] number of refinement steps in the scan matching. The final "precision" for the match is lstep*2^(-iterations) or astep*2^(-iterations), respectively. +- @b "~/lsigma" @b [double] standard deviation for the scan matching process (single laser beam) +- @b "~/ogain" @b [double] gain for smoothing the likelihood +- @b "~/lskip" @b [int] take only every (n+1)th laser ray for computing a match (0 = take all rays) +- @b "~/minimumScore" @b [double] minimum score for considering the outcome of the scanmatching good. Can avoid 'jumping' pose estimates in large open spaces when using laser scanners with limited range (e.g. 5m). (0 = default. Scores go up to 600+, try 50 for example when experiencing 'jumping' estimate issues) + +Motion Model Parameters (all standard deviations of a gaussian noise model) +- @b "~/srr" @b [double] linear noise component (x and y) +- @b "~/stt" @b [double] angular noise component (theta) +- @b "~/srt" @b [double] linear -> angular noise component +- @b "~/str" @b [double] angular -> linear noise component + +Others: +- @b "~/linearUpdate" @b [double] the robot only processes new measurements if the robot has moved at least this many meters +- @b "~/angularUpdate" @b [double] the robot only processes new measurements if the robot has turned at least this many rads + +- @b "~/resampleThreshold" @b [double] threshold at which the particles get resampled. Higher means more frequent resampling. +- @b "~/particles" @b [int] (fixed) number of particles. Each particle represents a possible trajectory that the robot has traveled + +Likelihood sampling (used in scan matching) +- @b "~/llsamplerange" @b [double] linear range +- @b "~/lasamplerange" @b [double] linear step size +- @b "~/llsamplestep" @b [double] linear range +- @b "~/lasamplestep" @b [double] angular step size + +Initial map dimensions and resolution: +- @b "~/xmin" @b [double] minimum x position in the map [m] +- @b "~/ymin" @b [double] minimum y position in the map [m] +- @b "~/xmax" @b [double] maximum x position in the map [m] +- @b "~/ymax" @b [double] maximum y position in the map [m] +- @b "~/delta" @b [double] size of one pixel [m] + +*/ + + + +#include "slam_gmapping.h" + +#include + +#include + +#include "ros/ros.h" +#include "ros/console.h" +#include "nav_msgs/MapMetaData.h" + +#include "gmapping/sensor/sensor_range/rangesensor.h" +#include "gmapping/sensor/sensor_odometry/odometrysensor.h" + +#include +#include +#include +#define foreach BOOST_FOREACH + +// compute linear index for given map coords +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) + +SlamGMapping::SlamGMapping(): + map_to_odom_(tf::Transform(tf::createQuaternionFromRPY( 0, 0, 0 ), tf::Point(0, 0, 0 ))), + laser_count_(0), private_nh_("~"), scan_filter_sub_(NULL), scan_filter_(NULL), transform_thread_(NULL) +{ + seed_ = time(NULL); + init(); +} + +SlamGMapping::SlamGMapping(ros::NodeHandle& nh, ros::NodeHandle& pnh): + map_to_odom_(tf::Transform(tf::createQuaternionFromRPY( 0, 0, 0 ), tf::Point(0, 0, 0 ))), + laser_count_(0),node_(nh), private_nh_(pnh), scan_filter_sub_(NULL), scan_filter_(NULL), transform_thread_(NULL) +{ + seed_ = time(NULL); + init(); +} + +SlamGMapping::SlamGMapping(long unsigned int seed, long unsigned int max_duration_buffer): + map_to_odom_(tf::Transform(tf::createQuaternionFromRPY( 0, 0, 0 ), tf::Point(0, 0, 0 ))), + laser_count_(0), private_nh_("~"), scan_filter_sub_(NULL), scan_filter_(NULL), transform_thread_(NULL), + seed_(seed), tf_(ros::Duration(max_duration_buffer)) +{ + init(); +} + + +void SlamGMapping::init() +{ + // log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME)->setLevel(ros::console::g_level_lookup[ros::console::levels::Debug]); + + // The library is pretty chatty + //gsp_ = new GMapping::GridSlamProcessor(std::cerr); + gsp_ = new GMapping::GridSlamProcessor(); + ROS_ASSERT(gsp_); + + tfB_ = new tf::TransformBroadcaster(); + ROS_ASSERT(tfB_); + + gsp_laser_ = NULL; + gsp_odom_ = NULL; + + got_first_scan_ = false; + got_map_ = false; + + + + // Parameters used by our GMapping wrapper + if(!private_nh_.getParam("throttle_scans", throttle_scans_)) + throttle_scans_ = 1; + if(!private_nh_.getParam("base_frame", base_frame_)) + base_frame_ = "base_link"; + if(!private_nh_.getParam("map_frame", map_frame_)) + map_frame_ = "map"; + if(!private_nh_.getParam("odom_frame", odom_frame_)) + odom_frame_ = "odom"; + + private_nh_.param("transform_publish_period", transform_publish_period_, 0.05); + + double tmp; + if(!private_nh_.getParam("map_update_interval", tmp)) + tmp = 5.0; + map_update_interval_.fromSec(tmp); + + // Parameters used by GMapping itself + maxUrange_ = 0.0; maxRange_ = 0.0; // preliminary default, will be set in initMapper() + if(!private_nh_.getParam("minimumScore", minimum_score_)) + minimum_score_ = 0; + if(!private_nh_.getParam("sigma", sigma_)) + sigma_ = 0.05; + if(!private_nh_.getParam("kernelSize", kernelSize_)) + kernelSize_ = 1; + if(!private_nh_.getParam("lstep", lstep_)) + lstep_ = 0.05; + if(!private_nh_.getParam("astep", astep_)) + astep_ = 0.05; + if(!private_nh_.getParam("iterations", iterations_)) + iterations_ = 5; + if(!private_nh_.getParam("lsigma", lsigma_)) + lsigma_ = 0.075; + if(!private_nh_.getParam("ogain", ogain_)) + ogain_ = 3.0; + if(!private_nh_.getParam("lskip", lskip_)) + lskip_ = 0; + if(!private_nh_.getParam("srr", srr_)) + srr_ = 0.1; + if(!private_nh_.getParam("srt", srt_)) + srt_ = 0.2; + if(!private_nh_.getParam("str", str_)) + str_ = 0.1; + if(!private_nh_.getParam("stt", stt_)) + stt_ = 0.2; + if(!private_nh_.getParam("linearUpdate", linearUpdate_)) + linearUpdate_ = 1.0; + if(!private_nh_.getParam("angularUpdate", angularUpdate_)) + angularUpdate_ = 0.5; + if(!private_nh_.getParam("temporalUpdate", temporalUpdate_)) + temporalUpdate_ = -1.0; + if(!private_nh_.getParam("resampleThreshold", resampleThreshold_)) + resampleThreshold_ = 0.5; + if(!private_nh_.getParam("particles", particles_)) + particles_ = 30; + if(!private_nh_.getParam("xmin", xmin_)) + xmin_ = -100.0; + if(!private_nh_.getParam("ymin", ymin_)) + ymin_ = -100.0; + if(!private_nh_.getParam("xmax", xmax_)) + xmax_ = 100.0; + if(!private_nh_.getParam("ymax", ymax_)) + ymax_ = 100.0; + if(!private_nh_.getParam("delta", delta_)) + delta_ = 0.05; + if(!private_nh_.getParam("occ_thresh", occ_thresh_)) + occ_thresh_ = 0.25; + if(!private_nh_.getParam("llsamplerange", llsamplerange_)) + llsamplerange_ = 0.01; + if(!private_nh_.getParam("llsamplestep", llsamplestep_)) + llsamplestep_ = 0.01; + if(!private_nh_.getParam("lasamplerange", lasamplerange_)) + lasamplerange_ = 0.005; + if(!private_nh_.getParam("lasamplestep", lasamplestep_)) + lasamplestep_ = 0.005; + + if(!private_nh_.getParam("tf_delay", tf_delay_)) + tf_delay_ = transform_publish_period_; + +} + + +void SlamGMapping::startLiveSlam() +{ + entropy_publisher_ = private_nh_.advertise("entropy", 1, true); + sst_ = node_.advertise("map", 1, true); + sstm_ = node_.advertise("map_metadata", 1, true); + ss_ = node_.advertiseService("dynamic_map", &SlamGMapping::mapCallback, this); + scan_filter_sub_ = new message_filters::Subscriber(node_, "scan", 5); + scan_filter_ = new tf::MessageFilter(*scan_filter_sub_, tf_, odom_frame_, 5); + scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1)); + + transform_thread_ = new boost::thread(boost::bind(&SlamGMapping::publishLoop, this, transform_publish_period_)); +} + +void SlamGMapping::startReplay(const std::string & bag_fname, std::string scan_topic) +{ + double transform_publish_period; + ros::NodeHandle private_nh_("~"); + entropy_publisher_ = private_nh_.advertise("entropy", 1, true); + sst_ = node_.advertise("map", 1, true); + sstm_ = node_.advertise("map_metadata", 1, true); + ss_ = node_.advertiseService("dynamic_map", &SlamGMapping::mapCallback, this); + + rosbag::Bag bag; + bag.open(bag_fname, rosbag::bagmode::Read); + + std::vector topics; + topics.push_back(std::string("/tf")); + topics.push_back(scan_topic); + rosbag::View viewall(bag, rosbag::TopicQuery(topics)); + + // Store up to 5 messages and there error message (if they cannot be processed right away) + std::queue > s_queue; + foreach(rosbag::MessageInstance const m, viewall) + { + tf::tfMessage::ConstPtr cur_tf = m.instantiate(); + if (cur_tf != NULL) { + for (size_t i = 0; i < cur_tf->transforms.size(); ++i) + { + geometry_msgs::TransformStamped transformStamped; + tf::StampedTransform stampedTf; + transformStamped = cur_tf->transforms[i]; + tf::transformStampedMsgToTF(transformStamped, stampedTf); + tf_.setTransform(stampedTf); + } + } + + sensor_msgs::LaserScan::ConstPtr s = m.instantiate(); + if (s != NULL) { + if (!(ros::Time(s->header.stamp)).is_zero()) + { + s_queue.push(std::make_pair(s, "")); + } + // Just like in live processing, only process the latest 5 scans + if (s_queue.size() > 5) { + ROS_WARN_STREAM("Dropping old scan: " << s_queue.front().second); + s_queue.pop(); + } + // ignoring un-timestamped tf data + } + + // Only process a scan if it has tf data + while (!s_queue.empty()) + { + try + { + tf::StampedTransform t; + tf_.lookupTransform(s_queue.front().first->header.frame_id, odom_frame_, s_queue.front().first->header.stamp, t); + this->laserCallback(s_queue.front().first); + s_queue.pop(); + } + // If tf does not have the data yet + catch(tf2::TransformException& e) + { + // Store the error to display it if we cannot process the data after some time + s_queue.front().second = std::string(e.what()); + break; + } + } + } + + bag.close(); +} + +void SlamGMapping::publishLoop(double transform_publish_period){ + if(transform_publish_period == 0) + return; + + ros::Rate r(1.0 / transform_publish_period); + while(ros::ok()){ + publishTransform(); + r.sleep(); + } +} + +SlamGMapping::~SlamGMapping() +{ + if(transform_thread_){ + transform_thread_->join(); + delete transform_thread_; + } + + delete gsp_; + if(gsp_laser_) + delete gsp_laser_; + if(gsp_odom_) + delete gsp_odom_; + if (scan_filter_) + delete scan_filter_; + if (scan_filter_sub_) + delete scan_filter_sub_; +} + +bool +SlamGMapping::getOdomPose(GMapping::OrientedPoint& gmap_pose, const ros::Time& t) +{ + // Get the pose of the centered laser at the right time + centered_laser_pose_.stamp_ = t; + // Get the laser's pose that is centered + tf::Stamped odom_pose; + try + { + tf_.transformPose(odom_frame_, centered_laser_pose_, odom_pose); + } + catch(tf::TransformException e) + { + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + double yaw = tf::getYaw(odom_pose.getRotation()); + + gmap_pose = GMapping::OrientedPoint(odom_pose.getOrigin().x(), + odom_pose.getOrigin().y(), + yaw); + return true; +} + +bool +SlamGMapping::initMapper(const sensor_msgs::LaserScan& scan) +{ + laser_frame_ = scan.header.frame_id; + // Get the laser's pose, relative to base. + tf::Stamped ident; + tf::Stamped laser_pose; + ident.setIdentity(); + ident.frame_id_ = laser_frame_; + ident.stamp_ = scan.header.stamp; + try + { + tf_.transformPose(base_frame_, ident, laser_pose); + } + catch(tf::TransformException e) + { + ROS_WARN("Failed to compute laser pose, aborting initialization (%s)", + e.what()); + return false; + } + + // create a point 1m above the laser position and transform it into the laser-frame + tf::Vector3 v; + v.setValue(0, 0, 1 + laser_pose.getOrigin().z()); + tf::Stamped up(v, scan.header.stamp, + base_frame_); + try + { + tf_.transformPoint(laser_frame_, up, up); + ROS_DEBUG("Z-Axis in sensor frame: %.3f", up.z()); + } + catch(tf::TransformException& e) + { + ROS_WARN("Unable to determine orientation of laser: %s", + e.what()); + return false; + } + + // gmapping doesnt take roll or pitch into account. So check for correct sensor alignment. + if (fabs(fabs(up.z()) - 1) > 0.001) + { + ROS_WARN("Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: %.5f", + up.z()); + return false; + } + + gsp_laser_beam_count_ = scan.ranges.size(); + + double angle_center = (scan.angle_min + scan.angle_max)/2; + + if (up.z() > 0) + { + do_reverse_range_ = scan.angle_min > scan.angle_max; + centered_laser_pose_ = tf::Stamped(tf::Transform(tf::createQuaternionFromRPY(0,0,angle_center), + tf::Vector3(0,0,0)), ros::Time::now(), laser_frame_); + ROS_INFO("Laser is mounted upwards."); + } + else + { + do_reverse_range_ = scan.angle_min < scan.angle_max; + centered_laser_pose_ = tf::Stamped(tf::Transform(tf::createQuaternionFromRPY(M_PI,0,-angle_center), + tf::Vector3(0,0,0)), ros::Time::now(), laser_frame_); + ROS_INFO("Laser is mounted upside down."); + } + + // Compute the angles of the laser from -x to x, basically symmetric and in increasing order + laser_angles_.resize(scan.ranges.size()); + // Make sure angles are started so that they are centered + double theta = - std::fabs(scan.angle_min - scan.angle_max)/2; + for(unsigned int i=0; igetName(), gsp_laser_)); + gsp_->setSensorMap(smap); + + gsp_odom_ = new GMapping::OdometrySensor(odom_frame_); + ROS_ASSERT(gsp_odom_); + + + /// @todo Expose setting an initial pose + GMapping::OrientedPoint initialPose; + if(!getOdomPose(initialPose, scan.header.stamp)) + { + ROS_WARN("Unable to determine inital pose of laser! Starting point will be set to zero."); + initialPose = GMapping::OrientedPoint(0.0, 0.0, 0.0); + } + + gsp_->setMatchingParameters(maxUrange_, maxRange_, sigma_, + kernelSize_, lstep_, astep_, iterations_, + lsigma_, ogain_, lskip_); + + gsp_->setMotionModelParameters(srr_, srt_, str_, stt_); + gsp_->setUpdateDistances(linearUpdate_, angularUpdate_, resampleThreshold_); + gsp_->setUpdatePeriod(temporalUpdate_); + gsp_->setgenerateMap(false); + gsp_->GridSlamProcessor::init(particles_, xmin_, ymin_, xmax_, ymax_, + delta_, initialPose); + gsp_->setllsamplerange(llsamplerange_); + gsp_->setllsamplestep(llsamplestep_); + /// @todo Check these calls; in the gmapping gui, they use + /// llsamplestep and llsamplerange intead of lasamplestep and + /// lasamplerange. It was probably a typo, but who knows. + gsp_->setlasamplerange(lasamplerange_); + gsp_->setlasamplestep(lasamplestep_); + gsp_->setminimumScore(minimum_score_); + + // Call the sampling function once to set the seed. + GMapping::sampleGaussian(1,seed_); + + ROS_INFO("Initialization complete"); + + return true; +} + +bool +SlamGMapping::addScan(const sensor_msgs::LaserScan& scan, GMapping::OrientedPoint& gmap_pose) +{ + if(!getOdomPose(gmap_pose, scan.header.stamp)) + return false; + + if(scan.ranges.size() != gsp_laser_beam_count_) + return false; + + // GMapping wants an array of doubles... + double* ranges_double = new double[scan.ranges.size()]; + // If the angle increment is negative, we have to invert the order of the readings. + if (do_reverse_range_) + { + ROS_DEBUG("Inverting scan"); + int num_ranges = scan.ranges.size(); + for(int i=0; i < num_ranges; i++) + { + // Must filter out short readings, because the mapper won't + if(scan.ranges[num_ranges - i - 1] < scan.range_min) + ranges_double[i] = (double)scan.range_max; + else + ranges_double[i] = (double)scan.ranges[num_ranges - i - 1]; + } + } else + { + for(unsigned int i=0; i < scan.ranges.size(); i++) + { + // Must filter out short readings, because the mapper won't + if(scan.ranges[i] < scan.range_min) + ranges_double[i] = (double)scan.range_max; + else + ranges_double[i] = (double)scan.ranges[i]; + } + } + + GMapping::RangeReading reading(scan.ranges.size(), + ranges_double, + gsp_laser_, + scan.header.stamp.toSec()); + + // ...but it deep copies them in RangeReading constructor, so we don't + // need to keep our array around. + delete[] ranges_double; + + reading.setPose(gmap_pose); + + /* + ROS_DEBUG("scanpose (%.3f): %.3f %.3f %.3f\n", + scan.header.stamp.toSec(), + gmap_pose.x, + gmap_pose.y, + gmap_pose.theta); + */ + ROS_DEBUG("processing scan"); + + return gsp_->processScan(reading); +} + +void +SlamGMapping::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan) +{ + laser_count_++; + if ((laser_count_ % throttle_scans_) != 0) + return; + + static ros::Time last_map_update(0,0); + + // We can't initialize the mapper until we've got the first scan + if(!got_first_scan_) + { + if(!initMapper(*scan)) + return; + got_first_scan_ = true; + } + + GMapping::OrientedPoint odom_pose; + + if(addScan(*scan, odom_pose)) + { + ROS_DEBUG("scan processed"); + + GMapping::OrientedPoint mpose = gsp_->getParticles()[gsp_->getBestParticleIndex()].pose; + ROS_DEBUG("new best pose: %.3f %.3f %.3f", mpose.x, mpose.y, mpose.theta); + ROS_DEBUG("odom pose: %.3f %.3f %.3f", odom_pose.x, odom_pose.y, odom_pose.theta); + ROS_DEBUG("correction: %.3f %.3f %.3f", mpose.x - odom_pose.x, mpose.y - odom_pose.y, mpose.theta - odom_pose.theta); + + tf::Transform laser_to_map = tf::Transform(tf::createQuaternionFromRPY(0, 0, mpose.theta), tf::Vector3(mpose.x, mpose.y, 0.0)).inverse(); + tf::Transform odom_to_laser = tf::Transform(tf::createQuaternionFromRPY(0, 0, odom_pose.theta), tf::Vector3(odom_pose.x, odom_pose.y, 0.0)); + + map_to_odom_mutex_.lock(); + map_to_odom_ = (odom_to_laser * laser_to_map).inverse(); + map_to_odom_mutex_.unlock(); + + if(!got_map_ || (scan->header.stamp - last_map_update) > map_update_interval_) + { + updateMap(*scan); + last_map_update = scan->header.stamp; + ROS_DEBUG("Updated the map"); + } + } else + ROS_DEBUG("cannot process scan"); +} + +double +SlamGMapping::computePoseEntropy() +{ + double weight_total=0.0; + for(std::vector::const_iterator it = gsp_->getParticles().begin(); + it != gsp_->getParticles().end(); + ++it) + { + weight_total += it->weight; + } + double entropy = 0.0; + for(std::vector::const_iterator it = gsp_->getParticles().begin(); + it != gsp_->getParticles().end(); + ++it) + { + if(it->weight/weight_total > 0.0) + entropy += it->weight/weight_total * log(it->weight/weight_total); + } + return -entropy; +} + +void +SlamGMapping::updateMap(const sensor_msgs::LaserScan& scan) +{ + ROS_DEBUG("Update map"); + boost::mutex::scoped_lock map_lock (map_mutex_); + GMapping::ScanMatcher matcher; + + matcher.setLaserParameters(scan.ranges.size(), &(laser_angles_[0]), + gsp_laser_->getPose()); + + matcher.setlaserMaxRange(maxRange_); + matcher.setusableRange(maxUrange_); + matcher.setgenerateMap(true); + + GMapping::GridSlamProcessor::Particle best = + gsp_->getParticles()[gsp_->getBestParticleIndex()]; + std_msgs::Float64 entropy; + entropy.data = computePoseEntropy(); + if(entropy.data > 0.0) + entropy_publisher_.publish(entropy); + + if(!got_map_) { + map_.map.info.resolution = delta_; + map_.map.info.origin.position.x = 0.0; + map_.map.info.origin.position.y = 0.0; + map_.map.info.origin.position.z = 0.0; + map_.map.info.origin.orientation.x = 0.0; + map_.map.info.origin.orientation.y = 0.0; + map_.map.info.origin.orientation.z = 0.0; + map_.map.info.origin.orientation.w = 1.0; + } + + GMapping::Point center; + center.x=(xmin_ + xmax_) / 2.0; + center.y=(ymin_ + ymax_) / 2.0; + + GMapping::ScanMatcherMap smap(center, xmin_, ymin_, xmax_, ymax_, + delta_); + + ROS_DEBUG("Trajectory tree:"); + for(GMapping::GridSlamProcessor::TNode* n = best.node; + n; + n = n->parent) + { + ROS_DEBUG(" %.3f %.3f %.3f", + n->pose.x, + n->pose.y, + n->pose.theta); + if(!n->reading) + { + ROS_DEBUG("Reading is NULL"); + continue; + } + matcher.invalidateActiveArea(); + matcher.computeActiveArea(smap, n->pose, &((*n->reading)[0])); + matcher.registerScan(smap, n->pose, &((*n->reading)[0])); + } + + // the map may have expanded, so resize ros message as well + if(map_.map.info.width != (unsigned int) smap.getMapSizeX() || map_.map.info.height != (unsigned int) smap.getMapSizeY()) { + + // NOTE: The results of ScanMatcherMap::getSize() are different from the parameters given to the constructor + // so we must obtain the bounding box in a different way + GMapping::Point wmin = smap.map2world(GMapping::IntPoint(0, 0)); + GMapping::Point wmax = smap.map2world(GMapping::IntPoint(smap.getMapSizeX(), smap.getMapSizeY())); + xmin_ = wmin.x; ymin_ = wmin.y; + xmax_ = wmax.x; ymax_ = wmax.y; + + ROS_DEBUG("map size is now %dx%d pixels (%f,%f)-(%f, %f)", smap.getMapSizeX(), smap.getMapSizeY(), + xmin_, ymin_, xmax_, ymax_); + + map_.map.info.width = smap.getMapSizeX(); + map_.map.info.height = smap.getMapSizeY(); + map_.map.info.origin.position.x = xmin_; + map_.map.info.origin.position.y = ymin_; + map_.map.data.resize(map_.map.info.width * map_.map.info.height); + + ROS_DEBUG("map origin: (%f, %f)", map_.map.info.origin.position.x, map_.map.info.origin.position.y); + } + + for(int x=0; x < smap.getMapSizeX(); x++) + { + for(int y=0; y < smap.getMapSizeY(); y++) + { + /// @todo Sort out the unknown vs. free vs. obstacle thresholding + GMapping::IntPoint p(x, y); + double occ=smap.cell(p); + assert(occ <= 1.0); + if(occ < 0) + map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = -1; + else if(occ > occ_thresh_) + { + //map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = (int)round(occ*100.0); + map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 100; + } + else + map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 0; + } + } + got_map_ = true; + + //make sure to set the header information on the map + map_.map.header.stamp = ros::Time::now(); + map_.map.header.frame_id = tf_.resolve( map_frame_ ); + + sst_.publish(map_.map); + sstm_.publish(map_.map.info); +} + +bool +SlamGMapping::mapCallback(nav_msgs::GetMap::Request &req, + nav_msgs::GetMap::Response &res) +{ + boost::mutex::scoped_lock map_lock (map_mutex_); + if(got_map_ && map_.map.info.width && map_.map.info.height) + { + res = map_; + return true; + } + else + return false; +} + +void SlamGMapping::publishTransform() +{ + map_to_odom_mutex_.lock(); + ros::Time tf_expiration = ros::Time::now() + ros::Duration(tf_delay_); + tfB_->sendTransform( tf::StampedTransform (map_to_odom_, tf_expiration, map_frame_, odom_frame_)); + map_to_odom_mutex_.unlock(); +} diff --git a/src/slam_gmapping/gmapping/src/slam_gmapping.h b/src/slam_gmapping/gmapping/src/slam_gmapping.h new file mode 100644 index 0000000..406cf1e --- /dev/null +++ b/src/slam_gmapping/gmapping/src/slam_gmapping.h @@ -0,0 +1,153 @@ +/* + * slam_gmapping + * Copyright (c) 2008, Willow Garage, Inc. + * + * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER 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. + * + */ + +/* Author: Brian Gerkey */ + +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" +#include "std_msgs/Float64.h" +#include "nav_msgs/GetMap.h" +#include "tf/transform_listener.h" +#include "tf/transform_broadcaster.h" +#include "message_filters/subscriber.h" +#include "tf/message_filter.h" + +#include "gmapping/gridfastslam/gridslamprocessor.h" +#include "gmapping/sensor/sensor_base/sensor.h" + +#include + +class SlamGMapping +{ + public: + SlamGMapping(); + SlamGMapping(ros::NodeHandle& nh, ros::NodeHandle& pnh); + SlamGMapping(unsigned long int seed, unsigned long int max_duration_buffer); + ~SlamGMapping(); + + void init(); + void startLiveSlam(); + void startReplay(const std::string & bag_fname, std::string scan_topic); + void publishTransform(); + + void laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan); + bool mapCallback(nav_msgs::GetMap::Request &req, + nav_msgs::GetMap::Response &res); + void publishLoop(double transform_publish_period); + + private: + ros::NodeHandle node_; + ros::Publisher entropy_publisher_; + ros::Publisher sst_; + ros::Publisher sstm_; + ros::ServiceServer ss_; + tf::TransformListener tf_; + message_filters::Subscriber* scan_filter_sub_; + tf::MessageFilter* scan_filter_; + tf::TransformBroadcaster* tfB_; + + GMapping::GridSlamProcessor* gsp_; + GMapping::RangeSensor* gsp_laser_; + // The angles in the laser, going from -x to x (adjustment is made to get the laser between + // symmetrical bounds as that's what gmapping expects) + std::vector laser_angles_; + // The pose, in the original laser frame, of the corresponding centered laser with z facing up + tf::Stamped centered_laser_pose_; + // Depending on the order of the elements in the scan and the orientation of the scan frame, + // We might need to change the order of the scan + bool do_reverse_range_; + unsigned int gsp_laser_beam_count_; + GMapping::OdometrySensor* gsp_odom_; + + bool got_first_scan_; + + bool got_map_; + nav_msgs::GetMap::Response map_; + + ros::Duration map_update_interval_; + tf::Transform map_to_odom_; + boost::mutex map_to_odom_mutex_; + boost::mutex map_mutex_; + + int laser_count_; + int throttle_scans_; + + boost::thread* transform_thread_; + + std::string base_frame_; + std::string laser_frame_; + std::string map_frame_; + std::string odom_frame_; + + void updateMap(const sensor_msgs::LaserScan& scan); + bool getOdomPose(GMapping::OrientedPoint& gmap_pose, const ros::Time& t); + bool initMapper(const sensor_msgs::LaserScan& scan); + bool addScan(const sensor_msgs::LaserScan& scan, GMapping::OrientedPoint& gmap_pose); + double computePoseEntropy(); + + // Parameters used by GMapping + double maxRange_; + double maxUrange_; + double maxrange_; + double minimum_score_; + double sigma_; + int kernelSize_; + double lstep_; + double astep_; + int iterations_; + double lsigma_; + double ogain_; + int lskip_; + double srr_; + double srt_; + double str_; + double stt_; + double linearUpdate_; + double angularUpdate_; + double temporalUpdate_; + double resampleThreshold_; + int particles_; + double xmin_; + double ymin_; + double xmax_; + double ymax_; + double delta_; + double occ_thresh_; + double llsamplerange_; + double llsamplestep_; + double lasamplerange_; + double lasamplestep_; + + ros::NodeHandle private_nh_; + + unsigned long int seed_; + + double transform_publish_period_; + double tf_delay_; +}; diff --git a/src/slam_gmapping/gmapping/test/basic_localization_laser_different_beamcount.test b/src/slam_gmapping/gmapping/test/basic_localization_laser_different_beamcount.test new file mode 100644 index 0000000..b9174e1 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_laser_different_beamcount.test @@ -0,0 +1,11 @@ + + + + + + + + + diff --git a/src/slam_gmapping/gmapping/test/basic_localization_stage.launch b/src/slam_gmapping/gmapping/test/basic_localization_stage.launch new file mode 100644 index 0000000..db77863 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_stage.launch @@ -0,0 +1,11 @@ + + + + + + + + + diff --git a/src/slam_gmapping/gmapping/test/basic_localization_stage_replay.launch b/src/slam_gmapping/gmapping/test/basic_localization_stage_replay.launch new file mode 100644 index 0000000..8396380 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_stage_replay.launch @@ -0,0 +1,8 @@ + + + + + + diff --git a/src/slam_gmapping/gmapping/test/basic_localization_stage_replay2.launch b/src/slam_gmapping/gmapping/test/basic_localization_stage_replay2.launch new file mode 100644 index 0000000..661fbf7 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_stage_replay2.launch @@ -0,0 +1,5 @@ + + + + diff --git a/src/slam_gmapping/gmapping/test/basic_localization_symmetry.launch b/src/slam_gmapping/gmapping/test/basic_localization_symmetry.launch new file mode 100644 index 0000000..4b30017 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_symmetry.launch @@ -0,0 +1,5 @@ + + + + diff --git a/src/slam_gmapping/gmapping/test/basic_localization_upside_down.launch b/src/slam_gmapping/gmapping/test/basic_localization_upside_down.launch new file mode 100644 index 0000000..052468f --- /dev/null +++ b/src/slam_gmapping/gmapping/test/basic_localization_upside_down.launch @@ -0,0 +1,5 @@ + + + + diff --git a/src/slam_gmapping/gmapping/test/rtest.cpp b/src/slam_gmapping/gmapping/test/rtest.cpp new file mode 100644 index 0000000..86ee000 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/rtest.cpp @@ -0,0 +1,180 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * 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 Willow Garage, Inc. 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 OWNER 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. + */ + +/* Author: Brian Gerkey */ + +#include +#include +#include +#include +#include +#include + + +ros::NodeHandle* g_n=NULL; +double g_res, g_width, g_height, g_min_free_ratio, g_max_free_ratio; + +class MapClientTest : public testing::Test +{ + public: + MapClientTest() + { + got_map_ = false; + got_map_metadata_ = false; + } + + ~MapClientTest() + { + } + + bool got_map_; + boost::shared_ptr map_; + void mapCallback(const boost::shared_ptr& map) + { + map_ = map; + got_map_ = true; + } + + bool got_map_metadata_; + boost::shared_ptr map_metadata_; + void mapMetaDataCallback(const boost::shared_ptr& map_metadata) + { + map_metadata_ = map_metadata; + got_map_metadata_ = true; + } + + void checkMapMetaData(const nav_msgs::MapMetaData& map_metadata) + { + EXPECT_FLOAT_EQ(map_metadata.resolution, g_res); + EXPECT_FLOAT_EQ(map_metadata.width, g_width); + EXPECT_FLOAT_EQ(map_metadata.height, g_height); + } + + void checkMapData(const nav_msgs::OccupancyGrid& map) + { + unsigned int i; + unsigned int free_cnt = 0; + for(i=0; i < map.info.width * map.info.height; i++) + { + if(map.data[i] == 0) + free_cnt++; + } + double free_ratio = free_cnt / (double)(i); + ROS_INFO("Min / ratio / Max free ratio: %f / %f / %f", g_min_free_ratio, free_ratio, g_max_free_ratio); + EXPECT_GE(free_ratio, g_min_free_ratio); + EXPECT_LE(free_ratio, g_max_free_ratio); + } +}; + +/* Try to retrieve the map via service, and compare to ground truth */ +TEST_F(MapClientTest, call_service) +{ + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ASSERT_TRUE(ros::service::waitForService("dynamic_map", 5000)); + ASSERT_TRUE(ros::service::call("dynamic_map", req, resp)); + checkMapMetaData(resp.map.info); + checkMapData(resp.map); +} + +/* Try to retrieve the map via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic) +{ + ros::Subscriber sub = g_n->subscribe("map", 1, boost::bind(&MapClientTest::mapCallback, this, _1)); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_ && i > 0) + { + ros::spinOnce(); + ros::WallDuration d(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_); + checkMapMetaData(map_->info); + checkMapData(*(map_.get())); +} + +/* Try to retrieve the metadata via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic_metadata) +{ + ros::Subscriber sub = g_n->subscribe("map_metadata", 1, boost::bind(&MapClientTest::mapMetaDataCallback, this, _1)); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_metadata_ && i > 0) + { + ros::spinOnce(); + ros::WallDuration d(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_metadata_); + checkMapMetaData(*(map_metadata_.get())); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + ros::init(argc, argv, "map_client_test"); + g_n = new ros::NodeHandle(); + + // Required args are, in order: + // + ROS_ASSERT(argc == 7); + ros::Duration delay = ros::Duration(atof(argv[1])); + g_res = atof(argv[2]); + g_width = atof(argv[3]); + g_height = atof(argv[4]); + g_min_free_ratio = atof(argv[5]); + g_max_free_ratio = atof(argv[6]); + + while(ros::Time::now().toSec() == 0.0) + { + ROS_INFO("Waiting for initial time publication"); + ros::Duration(0.25).sleep(); + ros::spinOnce(); + } + ros::Time start_time = ros::Time::now(); + while((ros::Time::now() - start_time) < delay) + { + ROS_INFO("Waiting for delay expiration (%.3f - %.3f) < %.3f", + ros::Time::now().toSec(), + start_time.toSec(), + delay.toSec()); + ros::Duration(0.25).sleep(); + ros::spinOnce(); + } + + int result = RUN_ALL_TESTS(); + delete g_n; + return result; +} diff --git a/src/slam_gmapping/gmapping/test/test_map.py b/src/slam_gmapping/gmapping/test/test_map.py new file mode 100755 index 0000000..7bc1dd4 --- /dev/null +++ b/src/slam_gmapping/gmapping/test/test_map.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python +# Software License Agreement (BSD License) +# +# Copyright (c) 2008, Willow Garage, Inc. +# 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 Willow Garage 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 OWNER 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. +# + + +import PIL.Image +import unittest +import subprocess +import sys + +import roslib +import os +roslib.load_manifest('gmapping') +import rostest + +class TestGmapping(unittest.TestCase): + + # Test that 2 map files are approximately the same + def cmp_maps(self, f0, f1): + im0 = PIL.Image.open(f0+'.pgm') + im1 = PIL.Image.open(f1+'.pgm') + + size = 100,100 + im0.thumbnail(size,PIL.Image.ANTIALIAS) + im1.thumbnail(size,PIL.Image.ANTIALIAS) + + # get raw data for comparison + im0d = im0.getdata() + im1d = im1.getdata() + + # assert len(i0)==len(i1) + self.assertTrue(len(im0d) == len(im1d)) + + #compare pixel by pixel for thumbnails + error_count = 0 + error_total = 0 + pixel_tol = 0 + total_error_tol = 0.1 + for i in range(len(im0d)): + (p0) = im0d[i] + (p1) = im1d[i] + if abs(p0-p1) > pixel_tol: + error_count = error_count + 1 + error_total = error_total + abs(p0-p1) + error_avg = float(error_total)/float(len(im0d)) + print '%d / %d = %.6f (%.6f)'%(error_total,len(im0d),error_avg,total_error_tol) + self.assertTrue(error_avg <= total_error_tol) + + def test_basic_localization_stage(self): + if sys.argv > 1: + target_time = float(sys.argv[1]) + + import time + import rospy + rospy.init_node('test', anonymous=True) + while(rospy.rostime.get_time() == 0.0): + print 'Waiting for initial time publication' + time.sleep(0.1) + start_time = rospy.rostime.get_time() + + while (rospy.rostime.get_time() - start_time) < target_time: + print 'Waiting for end time %.6f (current: %.6f)'%(target_time,(rospy.rostime.get_time() - start_time)) + time.sleep(0.1) + + f0 = os.path.join(roslib.packages.get_pkg_dir('gmapping'),'test','basic_localization_stage_groundtruth') + f1 = os.path.join(roslib.packages.get_pkg_dir('gmapping'),'test','basic_localization_stage_generated') + + cmd = ['rosrun', 'map_server', 'map_saver', 'map:=dynamic_map', '-f', f1] + self.assertTrue(subprocess.call(cmd) == 0) + + self.cmp_maps(f0,f1) + +if __name__ == '__main__': + rostest.run('gmapping', 'gmapping_slam', TestGmapping, sys.argv) diff --git a/src/slam_gmapping/slam_gmapping/CHANGELOG.rst b/src/slam_gmapping/slam_gmapping/CHANGELOG.rst new file mode 100644 index 0000000..4c4345f --- /dev/null +++ b/src/slam_gmapping/slam_gmapping/CHANGELOG.rst @@ -0,0 +1,50 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package slam_gmapping +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.4.2 (2020-10-02) +------------------ + +1.4.1 (2020-03-16) +------------------ + +1.4.0 (2019-07-12) +------------------ +* update license to BSD and maintainer to ros-orphaned-packages@googlegroups.com + since original gmapping source and ROS openslam_gmapping package has been updated to the BSD-3 license, I think we have no reason to use CC for slam_gmapping package +* Contributors: Kei Okada + +1.3.10 (2018-01-23) +------------------- + +1.3.9 (2017-10-22) +------------------ + +1.3.8 (2015-07-31) +------------------ + +1.3.7 (2015-07-04) +------------------ + +1.3.6 (2015-06-26) +------------------ + +1.3.5 (2014-08-28) +------------------ + +1.3.4 (2014-08-07) +------------------ + +1.3.3 (2014-06-23) +------------------ + +1.3.2 (2014-01-14) +------------------ + +1.3.1 (2014-01-13) +------------------ + +1.3.0 (2013-06-28) +------------------ +* Renamed to gmapping, adding metapackage for slam_gmapping +* Contributors: Mike Ferguson diff --git a/src/slam_gmapping/slam_gmapping/CMakeLists.txt b/src/slam_gmapping/slam_gmapping/CMakeLists.txt new file mode 100644 index 0000000..3a82b45 --- /dev/null +++ b/src/slam_gmapping/slam_gmapping/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(slam_gmapping) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/src/slam_gmapping/slam_gmapping/package.xml b/src/slam_gmapping/slam_gmapping/package.xml new file mode 100644 index 0000000..b88ca14 --- /dev/null +++ b/src/slam_gmapping/slam_gmapping/package.xml @@ -0,0 +1,20 @@ + + slam_gmapping + 1.4.2 + slam_gmapping contains a wrapper around gmapping which provides SLAM capabilities. + Brian Gerkey + ROS Orphaned Package Maintainers + BSD + Apache 2.0 + + http://ros.org/wiki/slam_gmapping + + catkin + + openslam_gmapping + gmapping + + + + + diff --git a/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md b/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 0000000..eb7f0f2 --- /dev/null +++ b/src/velodyne/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,30 @@ +--- +name: Bug report +about: Create a report to help us improve +title: '' +labels: bug +assignees: JWhitleyAStuff + +--- + +**Please complete the following information:** + - OS and Version: [e.g. Ubuntu 16.04] + - ROS Version: [e.g. Kinetic] + - Built from Source or Downloaded from Official Repository: + - Version: [if from repository, give version from `sudo dpkg -s ros-$ROS_VERSION-velodyne`, if from source, give commit hash] + +**Describe the bug** +A clear and concise description of what the bug is. + +**To Reproduce** +Steps to reproduce the behavior: +1. Go to '...' +2. Click on '....' +3. Scroll down to '....' +4. See error + +**Expected behavior** +A clear and concise description of what you expected to happen. + +**Additional context** +Add any other context about the problem here. diff --git a/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md b/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100644 index 0000000..d2dbf8d --- /dev/null +++ b/src/velodyne/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,20 @@ +--- +name: Feature request +about: Suggest an idea for this project +title: '' +labels: enhancement +assignees: JWhitleyAStuff + +--- + +**Is your feature request related to a problem? Please describe.** +A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] + +**Describe the solution you'd like** +A clear and concise description of what you want to happen. + +**Describe alternatives you've considered** +A clear and concise description of any alternative solutions or features you've considered. + +**Additional context** +Add any other context or screenshots about the feature request here. diff --git a/src/velodyne/.github/workflows/basic-build-ci.yaml b/src/velodyne/.github/workflows/basic-build-ci.yaml new file mode 100644 index 0000000..d359893 --- /dev/null +++ b/src/velodyne/.github/workflows/basic-build-ci.yaml @@ -0,0 +1,38 @@ +name: Basic Build Workflow + +on: + - pull_request + - push + +jobs: + build-noetic: + runs-on: ubuntu-latest + strategy: + fail-fast: false + container: + image: ros:noetic-perception + steps: + - name: Checkout repo + uses: actions/checkout@v2 + - name: Create Workspace + run: | + mkdir src_tmp + mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/ + mv src_tmp/ src/ + cd src + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + catkin_init_workspace' + - name: Install Prerequisites + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + apt-get update && rosdep update; \ + rosdep install --from-paths src --ignore-src -y' + - name: Build Workspace + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + catkin_make' + - name: Run Tests + run: | + bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ + catkin_make run_tests; \ + catkin_test_results --verbose' diff --git a/src/velodyne/.gitignore b/src/velodyne/.gitignore new file mode 100644 index 0000000..da9cbf7 --- /dev/null +++ b/src/velodyne/.gitignore @@ -0,0 +1,6 @@ +*.pyc +*.tar.gz +*~ +*.user +doc +TAGS diff --git a/src/velodyne/COPYING b/src/velodyne/COPYING new file mode 100644 index 0000000..be17287 --- /dev/null +++ b/src/velodyne/COPYING @@ -0,0 +1,41 @@ + + Copyright (C) 2010-2013 Austin Robot Technology, and others + All rights reserved. + + +All code in this repository is released under the terms of the +following Modified BSD License. + + +Modified BSD License: +-------------------- + + 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 names of the University of Texas at Austin, nor + Austin Robot Technology, nor the names of other 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 OWNER 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. diff --git a/src/velodyne/README.md b/src/velodyne/README.md new file mode 100644 index 0000000..f9ddea7 --- /dev/null +++ b/src/velodyne/README.md @@ -0,0 +1,21 @@ +[![](https://github.com/ros-drivers/velodyne/workflows/Basic%20Build%20Workflow/badge.svg)](https://github.com/ros-drivers/velodyne/actions) + +Overview +======== + +Velodyne1 is a collection of ROS2 packages supporting `Velodyne high +definition 3D LIDARs`3. + +**Warning**: + + The master branch normally contains code being tested for the next + ROS release. It will not always work with every previous release. + To check out the source for the most recent release, check out the + tag `` with the highest version number. + +The current ``master`` branch works with ROS Kinetic and Melodic. +CI builds are currently run for Kinetic and Melodic. + +- 1Velodyne: http://www.ros.org/wiki/velodyne +- 2ROS: http://www.ros.org +- 3`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx diff --git a/src/velodyne/velodyne/CHANGELOG.rst b/src/velodyne/velodyne/CHANGELOG.rst new file mode 100644 index 0000000..a0b4d68 --- /dev/null +++ b/src/velodyne/velodyne/CHANGELOG.rst @@ -0,0 +1,98 @@ +Change history +============== + +1.6.1 (2020-11-09) +------------------ + +1.6.0 (2020-07-09) +------------------ +* Updating maintainer email address. +* Merge branch 'feature/opc_nopcl' of github.com:spuetz/velodyne into feature/opc_nopcl +* Contributors: Joshua Whitley, Sebastian Pütz + +1.5.2 (2019-01-28) +------------------ + +1.5.1 (2018-12-10) +------------------ + +1.5.0 (2018-10-19) +------------------ + +1.4.0 (2018-09-19) +------------------ +* Merge pull request `#160 `_ from ros-drivers/maint/updating_package_xml_to_v2 +* Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. + All package.xml files are now compatible with version 2 of the + package.xml specification in REP 140. Removed some unnecessary + execute permissions on a few files. Fixed a missing test_depend. +* Contributors: Andre Volk, Joshua Whitley + +1.3.0 (2017-11-10) +------------------ +* Merge pull request `#110 `_ from kmhallen/master + Added velodyne_laserscan package +* Added velodyne_laserscan package and inserted into existing launch files +* Contributors: Jack O'Quin, Joshua Whitley, Kevin Hallenbeck + +1.2.0 (2014-08-06) +------------------ + +1.1.2 (2013-11-05) +------------------- + +1.1.1 (2013-07-30) +------------------ + +1.1.0 (2013-07-16) +------------------ + +1.0.1 (2013-06-15) +------------------ + +1.0.0 (2013-06-14) +------------------ + + * Convert to catkin (`#1`_). + * Release to Hydro. + +0.9.2 (2013-07-08) +------------------ + +0.9.1 (2012-06-05) +------------------ + +0.9.0 (2012-04-03) +------------------ + + * Completely revised API, anticipating a 1.0.0 release. + * New velodyne_driver and velodyne_pointcloud packages. + * Old velodyne_common and velodyne_pcl packages no longer included. + * Released to Electric, Fuerte and Groovy. + +0.2.6 (2011-02-23) +------------------ + +0.2.5 (2010-11-19) +------------------ + + * Initial implementation of new 0.3 interfaces. + +0.2.0 (2010-08-17) +------------------ + + * Initial release to ROS C-turtle. + +.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1 +.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4 +.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7 +.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8 +.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9 +.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10 +.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11 +.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12 +.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13 +.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14 +.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17 +.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18 +.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20 diff --git a/src/velodyne/velodyne/CMakeLists.txt b/src/velodyne/velodyne/CMakeLists.txt new file mode 100644 index 0000000..006a3f6 --- /dev/null +++ b/src/velodyne/velodyne/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/src/velodyne/velodyne/package.xml b/src/velodyne/velodyne/package.xml new file mode 100644 index 0000000..a81a960 --- /dev/null +++ b/src/velodyne/velodyne/package.xml @@ -0,0 +1,25 @@ + + + velodyne + 1.6.1 + + Basic ROS support for the Velodyne 3D LIDARs. + + Josh Whitley + Jack O'Quin + BSD + http://www.ros.org/wiki/velodyne + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + + velodyne_driver + velodyne_laserscan + velodyne_msgs + velodyne_pointcloud + + + + + diff --git a/src/velodyne/velodyne_driver/CHANGELOG.rst b/src/velodyne/velodyne_driver/CHANGELOG.rst new file mode 100644 index 0000000..1215fbf --- /dev/null +++ b/src/velodyne/velodyne_driver/CHANGELOG.rst @@ -0,0 +1,219 @@ +Change history +============== + +1.6.1 (2020-11-09) +------------------ + +1.6.0 (2020-07-09) +------------------ +* Unify tf frame parameters between transform and cloud nodes (`#344 `_) + * Unify tf frame parameters between transform and cloud nodes + * Use more common ROS terminology instead of 'htm' + * Just use tf listener when necessary + * Migrate package to tf2 + * Explicitly store sensor frame in a dedicated variable to make code easier to read + * Avoid unnecessary transforms when sensor_frame == target_frame + Co-authored-by: anre +* Updating maintainer email address. +* when device poll timeouts, do not stop node +* use correct node handles and node names for diagnostic_updater::Updater +* Added config option to timestamp a full scan based on first velo packet instead of last packet +* Merge pull request `#214 `_ from spuetz/feature/opc_nopcl + Container cleanup and organized pointclouds +* Merge pull request `#243 `_ from dandedrick/reconfig-enable + driver: add enabled reconfigure param +* Merge pull request `#234 `_ from kmhallen/c++11 + Set minimum C++ standard to C++11 +* Merge pull request `#222 `_ from mpitropov/feat_Use_GPS_time + Add flag to enable using GPS time from within the Velodyne packet instead of ROS time for scan. +* Merge pull request `#220 `_ from nbussas/static + Transform static variable into member +* Merge pull request `#216 `_ from ros-drivers/maint/poll_timeout_handling + Testing reporting error instead of stopping node on disconnect. +* fixed in range min max, and cleaned up the initialization +* Contributors: AndreasR30, Dan Dedrick, Daniel Seifert, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Nils Hauke Bussas, Sebastian, Sebastian Pütz, Shawn Hanna + +1.5.2 (2019-01-28) +------------------ +* Merge pull request `#212 `_ from ros-drivers/maint/vdump_as_root + Modifying vdump script for use as root. + Tested by @andersfischernielsen. +* Merge pull request `#205 `_ from xiesc/master + support for 64E-S3 +* Contributors: Joshua Whitley, Shichao XIE, xiesc + +1.5.1 (2018-12-10) +------------------ + +1.5.0 (2018-10-19) +------------------ +* Merge pull request `#187 `_ from moooeeeep/master + Fixed sign error in return value of InputSocket::getPacket() +* bugfix: getPacket() function is expected to return negative value on error +* Contributors: Fabian Maas, Joshua Whitley + +1.4.0 (2018-09-19) +------------------ +* Merge pull request `#178 `_ from sts-thm/bugfix_issue\_`#174 `_ + Bugfix issue `#174 `_ +* Removed debug outputs +* Changes fixing deadlock for specific cut_angle values. +* Merge pull request `#135 `_ from cfneuhaus/bugfix + Bugfix: when no device ip is set, we still want to filter by udp port. +* Merge pull request `#170 `_ from ros-drivers/maint/move_header_files + Moving header files to traditional location inside include folders. +* Merge pull request `#160 `_ from ros-drivers/maint/updating_package_xml_to_v2 +* Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. + All package.xml files are now compatible with version 2 of the + package.xml specification in REP 140. Removed some unnecessary + execute permissions on a few files. Fixed a missing test_depend. +* Merge pull request `#151 `_ from Axel13fr/feature/No_Communication_Diag_Update +* Fix packet rate for the Velodyne 32C +* Conventions: adding name for unused method parameter. +* Added a periodic update of the diagnostics so that when no data is received at all from the Velodyne, a diagnostic information will be published. The previous implementation would publish diagnostics only on packet reception. +* Merge pull request `#139 `_ from ASDeveloper00/vlp32 + Adding support for VLP-32C. +* Merge pull request `#138 `_ from volkandre/cut_at_specified_angle_feature +* cut_angle parameter is now in rad according to REP 103 +* Fixed timestamp related bug found by @cfneuhaus, which was described here: https://github.com/ros-drivers/velodyne/pull/126#discussion_r154137793 +* bugfix: when no device ip is set, we still want to filter by udp port. +* Contributors: Andre Volk, CNR, Denis Dillenberger, Frank Neuhaus, Jack O'Quin, Joshua Whitley, Sammy Pfeiffer, Tobias Athmer, axd, kennouni + +1.3.0 (2017-11-10) +------------------ +* Merge pull request `#129 `_ from kmhallen/pluginlib_macro + Modern pluginlib macro +* Update to use non deprecated pluginlib macro +* add launch args to support multiple devices (`#108 `_) +* Merge pull request `#101 `_ from teosnare/master + velodyne_driver/src/lib/input.cc : fix for device_ip filter +* Merge pull request `#104 `_ from altrouge/launch_options + Add more options in launch files. +* Rearranged alphabetically. +* Add more options in launch files. + - rpm, device_ip, port, read_once, read_fast, repeat_delay +* velodyne_driver/src/lib/input.cc : fix for device_ip filter + Fix for device_ip filter in InputSocket: initialization of devip\_ for correct ip filtering in InputSocket::getPacket. +* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 `_) +* Merge pull request `#96 `_ from priyankadey/master + updated VLP-16 packet rate from user manual. +* updated VLP-16 packet rate from user manual. + Also verified with sensor. It reduced overlap in the pointcloud +* update change history +* Merge pull request `#94 `_ from ros-drivers/pcap_port + velodyne_driver: use port number for PCAP data (`#46 `_, `#66 `_) +* fix g++ 5.3.1 compile errors (`#94 `_) +* merge current master (`#94 `_) +* Merge pull request `#91 `_ from chukcha2/master + update velodyne_driver package description to include all models +* update velodyne_driver package description to include all models +* Merge pull request `#89 `_ from Tones29/feat_dynrec_driver + Add dynamic latency configuration to velodyne_driver +* velodyne_driver: Add dynamic_reconfigure and time_offset correction + The value of time_offset is added to the calculated time stamp in live mode for each packet. +* velodyne_driver: Make input destructors virtual +* prepare change history for coming Indigo release (`#59 `_) +* velodyne_driver: use port number for PCAP data (`#66 `_) +* Merge pull request `#39 `_ from zooxco/multivelodyne + support for multiple velodynes +* Merge pull request `#44 `_ from SISegwayRmp/master + adding driver and pointcloud support for the VLP16 +* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap +* adding support for the VLP16 +* parameters to set the udp port +* fixed missing header +* cleanup debug line +* parameter and code added for working with multiple velodynes +* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey + +1.2.0 (2014-08-06) +------------------ +* Fixed bug in diagnostic rate for driver (`#16 + `_) +* Contributors: Brice Rebsamen, Jack O'Quin + +1.1.2 (2013-11-05) +------------------- + + * Move unit test data to download.ros.org (`#18`_). + * Install missing vdump script (`#17`_). + +1.1.1 (2013-07-30) +------------------ + + * Add support for HDL-64E S2 and S2.1 models, which were not working before (`#11`_), thanks to Gabor Meszaros (`#12`_). + * Add additional parameters to launch files (`#14`_). + +1.1.0 (2013-07-16) +------------------ + + * Fix build problems due to PCL 1.7 API incompatibilities (`#8`_), + thanks to William Woodall. This version also works with Groovy, as + long as the correct ``pcl_conversions`` is installed. + * Fix errors with Mac OSX compiler (`#8`_). + * Install ``pluginlib`` XML files (`#9`_). + * Install some launch and parameter files. + * Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_). + +1.0.1 (2013-06-15) +------------------ + + * Declare explicit ``pluginlib`` dependency (`#4`_). + +1.0.0 (2013-06-14) +------------------ + + * Convert to catkin (`#1`_). + * Release to Hydro. + +0.9.2 (2013-07-08) +------------------ + + * Fix Groovy build problem (`#7`_). + +0.9.1 (2012-06-05) +------------------ + + * Driver socket read path improvements. + * Add unit tests with 32E data. + * Released to Electric, Fuerte and Groovy. + +0.9.0 (2012-04-03) +------------------ + + * Completely revised API, anticipating a 1.0.0 release. + * HDL-32E device support. + * New velodyne_driver and velodyne_pointcloud packages. + * Old velodyne_common and velodyne_pcl packages no longer included. + * Released to Electric, Fuerte and Groovy. + +0.2.6 (2011-02-23) +------------------ + + * Label all timing-dependent tests "realtime" so they do not run by + default on the build farm machines. + +0.2.5 (2010-11-19) +------------------ + + * Initial implementation of new 0.3 interfaces. + * Support for ROS 1.3 `std_msgs::Header` changes. + +0.2.0 (2010-08-17) +------------------ + + * Initial release to ROS C-turtle. + +.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1 +.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4 +.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7 +.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8 +.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9 +.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10 +.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11 +.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12 +.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13 +.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14 +.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17 +.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18 +.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20 diff --git a/src/velodyne/velodyne_driver/CMakeLists.txt b/src/velodyne/velodyne_driver/CMakeLists.txt new file mode 100644 index 0000000..3f92f1c --- /dev/null +++ b/src/velodyne/velodyne_driver/CMakeLists.txt @@ -0,0 +1,94 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_driver) + +# Set minimum C++ standard to C++11 +if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_STANDARD 11) +endif() + +set(${PROJECT_NAME}_CATKIN_DEPS + diagnostic_updater + dynamic_reconfigure + nodelet + roscpp + tf + velodyne_msgs) + +find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS} roslint) + +# This driver uses Boost threads +find_package(Boost REQUIRED COMPONENTS thread) + +# libpcap provides no pkg-config or find_package module: +set(libpcap_LIBRARIES -lpcap) + +include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS}) + +# Generate dynamic_reconfigure server +generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg) + +# objects needed by other ROS packages that depend on this one +catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS} + INCLUDE_DIRS include + LIBRARIES velodyne_input) + +# compile the driver and input library +add_subdirectory(src/lib) +add_subdirectory(src/driver) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +install(FILES nodelet_velodyne.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) +install(PROGRAMS src/vdump + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +roslint_cpp() + +if (CATKIN_ENABLE_TESTING) + + # these dependencies are only needed for unit testing + find_package(roslaunch REQUIRED) + find_package(rostest REQUIRED) + + # Download packet capture (PCAP) files containing test data. + # Store them in devel-space, so rostest can easily find them. + catkin_download_test_data( + ${PROJECT_NAME}_tests_class.pcap + http://download.ros.org/data/velodyne/class.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 65808d25772101358a3719b451b3d015) + catkin_download_test_data( + ${PROJECT_NAME}_tests_32e.pcap + http://download.ros.org/data/velodyne/32e.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 e41d02aac34f0967c03a5597e1d554a9) + catkin_download_test_data( + ${PROJECT_NAME}_tests_vlp16.pcap + http://download.ros.org/data/velodyne/vlp16.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 f45c2bb1d7ee358274e423ea3b66fd73) + + # unit tests + add_rostest(tests/pcap_node_hertz.test) + add_rostest(tests/pcap_nodelet_hertz.test) + add_rostest(tests/pcap_32e_node_hertz.test) + add_rostest(tests/pcap_32e_nodelet_hertz.test) + add_rostest(tests/pcap_vlp16_node_hertz.test) + add_rostest(tests/pcap_vlp16_nodelet_hertz.test) + + # parse check all the launch/*.launch files + roslaunch_add_file_check(launch) + + # unit test + catkin_add_gtest(time_test tests/timeconversiontest.cpp) + target_link_libraries(time_test + ${catkin_LIBRARIES} + ${Boost_LIBRARIES}) +endif (CATKIN_ENABLE_TESTING) diff --git a/src/velodyne/velodyne_driver/cfg/VelodyneNode.cfg b/src/velodyne/velodyne_driver/cfg/VelodyneNode.cfg new file mode 100755 index 0000000..a4e1f81 --- /dev/null +++ b/src/velodyne/velodyne_driver/cfg/VelodyneNode.cfg @@ -0,0 +1,15 @@ +#!/usr/bin/env python +PACKAGE = "velodyne_driver" +NODE_NAME = "velodyne_node" +PARAMS_NAME = "VelodyneNode" + +from math import pi +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("time_offset", double_t, 1, "A manually calibrated offset (in seconds) to add to the timestamp before publication of a message.", + 0.0, -1.0, 1.0) +gen.add("enabled", bool_t, 2, "Switch to enable and disable lidar packet consumption", True); + +exit(gen.generate(PACKAGE, NODE_NAME, PARAMS_NAME)) diff --git a/src/velodyne/velodyne_driver/include/velodyne_driver/driver.h b/src/velodyne/velodyne_driver/include/velodyne_driver/driver.h new file mode 100644 index 0000000..ff2b792 --- /dev/null +++ b/src/velodyne/velodyne_driver/include/velodyne_driver/driver.h @@ -0,0 +1,97 @@ +// Copyright (C) 2012 Austin Robot Technology, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_DRIVER_DRIVER_H +#define VELODYNE_DRIVER_DRIVER_H + +#include +#include +#include +#include +#include + +#include +#include + +namespace velodyne_driver +{ + +class VelodyneDriver +{ +public: + VelodyneDriver(ros::NodeHandle node, + ros::NodeHandle private_nh, + std::string const & node_name = ros::this_node::getName()); + ~VelodyneDriver() {} + + bool poll(void); + +private: + // Callback for dynamic reconfigure + void callback(velodyne_driver::VelodyneNodeConfig &config, + uint32_t level); + // Callback for diagnostics update for lost communication with vlp + void diagTimerCallback(const ros::TimerEvent&event); + + // Pointer to dynamic reconfigure service srv_ + boost::shared_ptr > srv_; + + // configuration parameters + struct + { + std::string frame_id; // tf frame ID + std::string model; // device model name + int npackets; // number of packets to collect + double rpm; // device rotation rate (RPMs) + int cut_angle; // cutting angle in 1/100° + double time_offset; // time in seconds added to each velodyne time stamp + bool enabled; // polling is enabled + bool timestamp_first_packet; + } + config_; + + boost::shared_ptr input_; + ros::Publisher output_; + int last_azimuth_; + + /* diagnostics updater */ + ros::Timer diag_timer_; + diagnostic_updater::Updater diagnostics_; + double diag_min_freq_; + double diag_max_freq_; + boost::shared_ptr diag_topic_; +}; + +} // namespace velodyne_driver + +#endif // VELODYNE_DRIVER_DRIVER_H diff --git a/src/velodyne/velodyne_driver/include/velodyne_driver/input.h b/src/velodyne/velodyne_driver/include/velodyne_driver/input.h new file mode 100644 index 0000000..07af1e9 --- /dev/null +++ b/src/velodyne/velodyne_driver/include/velodyne_driver/input.h @@ -0,0 +1,150 @@ +// Copyright (C) 2007, 2009, 2010, 2012, 2015Yaxin Liu, Patrick Beeson, Austin Robot Technology, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** @file + * + * Velodyne 3D LIDAR data input classes + * + * These classes provide raw Velodyne LIDAR input packets from + * either a live socket interface or a previously-saved PCAP dump + * file. + * + * Classes: + * + * velodyne::Input -- base class for accessing the data + * independently of its source + * + * velodyne::InputSocket -- derived class reads live data from the + * device via a UDP socket + * + * velodyne::InputPCAP -- derived class provides a similar interface + * from a PCAP dump file + */ + +#ifndef VELODYNE_DRIVER_INPUT_H +#define VELODYNE_DRIVER_INPUT_H + +#include +#include +#include +#include +#include + +#include +#include + +namespace velodyne_driver +{ + +static uint16_t DATA_PORT_NUMBER = 2368; // default data port +static uint16_t POSITION_PORT_NUMBER = 8308; // default position port + +/** @brief Velodyne input base class */ +class Input +{ +public: + Input(ros::NodeHandle private_nh, uint16_t port); + virtual ~Input() {} + + /** @brief Read one Velodyne packet. + * + * @param pkt points to VelodynePacket message + * + * @returns 0 if successful, + * -1 if end of file + * > 0 if incomplete packet (is this possible?) + */ + virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, + const double time_offset) = 0; + +protected: + ros::NodeHandle private_nh_; + uint16_t port_; + std::string devip_str_; + bool gps_time_; +}; + +/** @brief Live Velodyne input from socket. */ +class InputSocket: public Input +{ +public: + InputSocket(ros::NodeHandle private_nh, + uint16_t port = DATA_PORT_NUMBER); + virtual ~InputSocket(); + + virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, + const double time_offset); + void setDeviceIP(const std::string& ip); + +private: + int sockfd_; + in_addr devip_; +}; + + +/** @brief Velodyne input from PCAP dump file. + * + * Dump files can be grabbed by libpcap, Velodyne's DSR software, + * ethereal, wireshark, tcpdump, or the \ref vdump_command. + */ +class InputPCAP: public Input +{ +public: + InputPCAP(ros::NodeHandle private_nh, + uint16_t port = DATA_PORT_NUMBER, + double packet_rate = 0.0, + std::string filename = "", + bool read_once = false, + bool read_fast = false, + double repeat_delay = 0.0); + virtual ~InputPCAP(); + + virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, + const double time_offset); + void setDeviceIP(const std::string& ip); + +private: + ros::Rate packet_rate_; + std::string filename_; + pcap_t *pcap_; + bpf_program pcap_packet_filter_; + char errbuf_[PCAP_ERRBUF_SIZE]; + bool empty_; + bool pcap_time_; + bool read_once_; + bool read_fast_; + double repeat_delay_; +}; + +} // namespace velodyne_driver + +#endif // VELODYNE_DRIVER_INPUT_H diff --git a/src/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h b/src/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h new file mode 100644 index 0000000..1fa8cd0 --- /dev/null +++ b/src/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h @@ -0,0 +1,77 @@ +// Copyright (C) 2010, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * Velodyne HDL-64E 3D LIDAR laser ring sequence. + * + * \author Jack O'Quin + */ + +#ifndef VELODYNE_DRIVER_RING_SEQUENCE_H +#define VELODYNE_DRIVER_RING_SEQUENCE_H + +namespace velodyne +{ + +// number of lasers +const int N_LASERS = 64; + +// ring sequence for device laser numbers +const int LASER_SEQUENCE[N_LASERS] = + { + 6, 7, 10, 11, 0, 1, 4, 5, + 8, 9, 14, 15, 18, 19, 22, 23, + 12, 13, 16, 17, 20, 21, 26, 27, + 30, 31, 2, 3, 24, 25, 28, 29, + 38, 39, 42, 43, 32, 33, 36, 37, + 40, 41, 46, 47, 50, 51, 54, 55, + 44, 45, 48, 49, 52, 53, 58, 59, + 62, 63, 34, 35, 56, 57, 60, 61 + }; + +// convert laser number to ring sequence (inverse of LASER_SEQUENCE) +const int LASER_RING[N_LASERS] = + { + 4, 5, 26, 27, 6, 7, 0, 1, + 8, 9, 2, 3, 16, 17, 10, 11, + 18, 19, 12, 13, 20, 21, 14, 15, + 28, 29, 22, 23, 30, 31, 24, 25, + 36, 37, 58, 59, 38, 39, 32, 33, + 40, 41, 34, 35, 48, 49, 42, 43, + 50, 51, 44, 45, 52, 53, 46, 47, + 60, 61, 54, 55, 62, 63, 56, 57 + }; + +} // namespace velodyne + +#endif // VELODYNE_DRIVER_RING_SEQUENCE_H diff --git a/src/velodyne/velodyne_driver/include/velodyne_driver/time_conversion.hpp b/src/velodyne/velodyne_driver/include/velodyne_driver/time_conversion.hpp new file mode 100644 index 0000000..f81bde2 --- /dev/null +++ b/src/velodyne/velodyne_driver/include/velodyne_driver/time_conversion.hpp @@ -0,0 +1,86 @@ +// Copyright (C) 2019 Matthew Pitropov, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_DRIVER_TIME_CONVERSION_HPP +#define VELODYNE_DRIVER_TIME_CONVERSION_HPP + +#include + +#include +#include + +/** @brief Function used to check that hour assigned to timestamp in conversion is + * correct. Velodyne only returns time since the top of the hour, so if the computer clock + * and the velodyne clock (gps-synchronized) are a little off, there is a chance the wrong + * hour may be associated with the timestamp + * + * @param stamp timestamp recovered from velodyne + * @param nominal_stamp time coming from computer's clock + * @return timestamp from velodyne, possibly shifted by 1 hour if the function arguments + * disagree by more than a half-hour. + */ +ros::Time resolveHourAmbiguity(const ros::Time &stamp, const ros::Time &nominal_stamp) { + const int HALFHOUR_TO_SEC = 1800; + ros::Time retval = stamp; + if (nominal_stamp.sec > stamp.sec) { + if (nominal_stamp.sec - stamp.sec > HALFHOUR_TO_SEC) { + retval.sec = retval.sec + 2*HALFHOUR_TO_SEC; + } + } else if (stamp.sec - nominal_stamp.sec > HALFHOUR_TO_SEC) { + retval.sec = retval.sec - 2*HALFHOUR_TO_SEC; + } + return retval; +} + +ros::Time rosTimeFromGpsTimestamp(const uint8_t * const data, const struct pcap_pkthdr *header = NULL) { + const int HOUR_TO_SEC = 3600; + // time for each packet is a 4 byte uint + // It is the number of microseconds from the top of the hour + uint32_t usecs = (uint32_t) ( ((uint32_t) data[3]) << 24 | + ((uint32_t) data[2] ) << 16 | + ((uint32_t) data[1] ) << 8 | + ((uint32_t) data[0] )); + ros::Time time_nom = ros::Time(); + // if header is NULL, assume real time operation + if (!header) { + time_nom = ros::Time::now(); // use this to recover the hour + } else { + time_nom = ros::Time(header->ts.tv_sec, header->ts.tv_usec * 1000); + } + uint32_t cur_hour = time_nom.sec / HOUR_TO_SEC; + ros::Time stamp = ros::Time((cur_hour * HOUR_TO_SEC) + (usecs / 1000000), + (usecs % 1000000) * 1000); + stamp = resolveHourAmbiguity(stamp, time_nom); + return stamp; +} + +#endif //VELODYNE_DRIVER_TIME_CONVERSION_HPP diff --git a/src/velodyne/velodyne_driver/launch/nodelet_manager.launch b/src/velodyne/velodyne_driver/launch/nodelet_manager.launch new file mode 100644 index 0000000..0b4881e --- /dev/null +++ b/src/velodyne/velodyne_driver/launch/nodelet_manager.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/mainpage.dox b/src/velodyne/velodyne_driver/mainpage.dox new file mode 100644 index 0000000..6311253 --- /dev/null +++ b/src/velodyne/velodyne_driver/mainpage.dox @@ -0,0 +1,77 @@ +/** +\mainpage + +\htmlinclude manifest.html + +ROS device driver for Velodyne 3D LIDARs. + +\section read Velodyne device driver + +ROS device driver node that captures Velodyne 3D LIDAR data and +publishes it to the \b velodyne_msgs/VelodyneScan topic. + +\subsection read_examples Examples + +Read the Velodyne input socket as fast as possible. Publish each +complete revolution to \b velodyne/rawscan. + +\verbatim +$ rosrun velodyne_driver velodyne_node +\endverbatim + +Read previously captured Velodyne packets from dump.pcap file. +Publish messages to \b velodyne/rawscan at approximately 10 Hz rate. + +Dump files can be grabbed by libpcap, Velodyne's DSR software, +ethereal, wireshark, tcpdump, or the velodyne_driver vdump command. + +\verbatim +$ rosrun velodyne_driver velodyne_node _pcap:=dump.pcap +\endverbatim + +\subsection read_names ROS names + +Node name: \b velodyne_node + +Publishes: \b velodyne_packets raw Velodyne data packets for one +entire revolution of the device. + +Parameters: + + - \b ~pcap (string): PCAP dump input file name (default: use real device) + - \b ~input/read_once (bool): if true, read input file only once + (default false). + - \b ~input/read_fast (bool): if true, read input file as fast as + possible (default false). + - \b ~input/repeat_delay (double): number of seconds to delay before + repeating input file (default: 0.0). + +\section vdump_command Vdump Command + +The vdump command dumps raw data from the Velodyne LIDAR in PCAP +format. It is a shell script wrapper with some obscure options for +the powerful tcpdump command. + +Other methods of acquiring PCAP data include using tcpdump directly, +wireshark, Velodyne's DSR software, and programming with libpcap. + +\subsection vdump_usage Usage + +\verbatim + rosrun velodyne_driver vdump [ ] + + file name to dump (with 3-digit number suffix) + interface to read from (default: "eth1") +\endverbatim + +\subsection vdump_examples Examples + +Dump Velodyne packets to a series of files named "pcap-000", +"pcap-001", etc. Each file will be about 100MB, holding a little more +than 30 seconds of Velodyne packets. Type ^C when finished. + +\verbatim +$ rosrun velodyne_driver vdump pcap- eth0 +\endverbatim + +*/ diff --git a/src/velodyne/velodyne_driver/nodelet_velodyne.xml b/src/velodyne/velodyne_driver/nodelet_velodyne.xml new file mode 100644 index 0000000..7c08922 --- /dev/null +++ b/src/velodyne/velodyne_driver/nodelet_velodyne.xml @@ -0,0 +1,9 @@ + + + + Publish raw Velodyne data packets. + + + diff --git a/src/velodyne/velodyne_driver/package.xml b/src/velodyne/velodyne_driver/package.xml new file mode 100644 index 0000000..4d6f21a --- /dev/null +++ b/src/velodyne/velodyne_driver/package.xml @@ -0,0 +1,38 @@ + + + velodyne_driver + 1.6.1 + + ROS device driver for Velodyne 3D LIDARs. + + Josh Whitley + Brice Rebsamen + Jack O'Quin + Patrick Beeson + Michael Quinlan + Yaxin Liu + BSD + + http://www.ros.org/wiki/velodyne_driver + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + + roslint + + diagnostic_updater + dynamic_reconfigure + libpcap + nodelet + roscpp + tf + velodyne_msgs + + roslaunch + rostest + + + + + diff --git a/src/velodyne/velodyne_driver/src/driver/CMakeLists.txt b/src/velodyne/velodyne_driver/src/driver/CMakeLists.txt new file mode 100644 index 0000000..8d4179d --- /dev/null +++ b/src/velodyne/velodyne_driver/src/driver/CMakeLists.txt @@ -0,0 +1,26 @@ +# build the driver node +add_executable(velodyne_node velodyne_node.cc driver.cc) +add_dependencies(velodyne_node velodyne_driver_gencfg) +target_link_libraries(velodyne_node + velodyne_input + ${catkin_LIBRARIES} + ${libpcap_LIBRARIES} +) + +# build the nodelet version +add_library(driver_nodelet nodelet.cc driver.cc) +add_dependencies(driver_nodelet velodyne_driver_gencfg) +target_link_libraries(driver_nodelet + velodyne_input + ${catkin_LIBRARIES} + ${libpcap_LIBRARIES} +) + +# install runtime files +install(TARGETS velodyne_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + COMPONENT main +) +install(TARGETS driver_nodelet + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/src/velodyne/velodyne_driver/src/driver/driver.cc b/src/velodyne/velodyne_driver/src/driver/driver.cc new file mode 100644 index 0000000..f3b4a72 --- /dev/null +++ b/src/velodyne/velodyne_driver/src/driver/driver.cc @@ -0,0 +1,304 @@ +// Copyright (C) 2007, 2009-2012 Austin Robot Technology, Patrick Beeson, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * ROS driver implementation for the Velodyne 3D LIDARs + */ + +#include +#include + +#include +#include +#include + +#include "velodyne_driver/driver.h" + +namespace velodyne_driver +{ + +VelodyneDriver::VelodyneDriver(ros::NodeHandle node, + ros::NodeHandle private_nh, + std::string const & node_name) + : diagnostics_(node, private_nh, node_name) +{ + // use private node handle to get parameters + private_nh.param("frame_id", config_.frame_id, std::string("velodyne")); + std::string tf_prefix = tf::getPrefixParam(private_nh); + ROS_DEBUG_STREAM("tf_prefix: " << tf_prefix); + config_.frame_id = tf::resolve(tf_prefix, config_.frame_id); + + // get model name, validate string, determine packet rate + private_nh.param("model", config_.model, std::string("64E")); + double packet_rate; // packet frequency (Hz) + std::string model_full_name; + if ((config_.model == "VLS128") ) + { + packet_rate = 6253.9; // 3 firing cycles in a data packet. 3 x 53.3 μs = 0.1599 ms is the accumulation delay per packet. + // 1 packet/0.1599 ms = 6253.9 packets/second + + model_full_name = config_.model; + } + else if ((config_.model == "64E_S2") || + (config_.model == "64E_S2.1")) // generates 1333312 points per second + { // 1 packet holds 384 points + packet_rate = 3472.17; // 1333312 / 384 + model_full_name = std::string("HDL-") + config_.model; + } + else if (config_.model == "64E") + { + packet_rate = 2600.0; + model_full_name = std::string("HDL-") + config_.model; + } + else if (config_.model == "64E_S3") // generates 2222220 points per second (half for strongest and half for lastest) + { // 1 packet holds 384 points + packet_rate = 5787.03; // 2222220 / 384 + model_full_name = std::string("HDL-") + config_.model; + } + else if (config_.model == "32E") + { + packet_rate = 1808.0; + model_full_name = std::string("HDL-") + config_.model; + } + else if (config_.model == "32C") + { + packet_rate = 1507.0; + model_full_name = std::string("VLP-") + config_.model; + } + else if (config_.model == "VLP16") + { + packet_rate = 754; // 754 Packets/Second for Last or Strongest mode 1508 for dual (VLP-16 User Manual) + model_full_name = "VLP-16"; + } + else + { + ROS_ERROR_STREAM("unknown Velodyne LIDAR model: " << config_.model); + packet_rate = 2600.0; + } + std::string deviceName(std::string("Velodyne ") + model_full_name); + + private_nh.param("rpm", config_.rpm, 600.0); + ROS_INFO_STREAM(deviceName << " rotating at " << config_.rpm << " RPM"); + double frequency = (config_.rpm / 60.0); // expected Hz rate + + // default number of packets for each scan is a single revolution + // (fractions rounded up) + config_.npackets = (int) ceil(packet_rate / frequency); + private_nh.getParam("npackets", config_.npackets); + ROS_INFO_STREAM("publishing " << config_.npackets << " packets per scan"); + + // if we are timestamping based on the first or last packet in the scan + private_nh.param("timestamp_first_packet", config_.timestamp_first_packet, false); + if (config_.timestamp_first_packet) + ROS_INFO("Setting velodyne scan start time to timestamp of first packet"); + + std::string dump_file; + private_nh.param("pcap", dump_file, std::string("")); + + double cut_angle; + private_nh.param("cut_angle", cut_angle, -0.01); + if (cut_angle < 0.0) + { + ROS_INFO_STREAM("Cut at specific angle feature deactivated."); + } + else if (cut_angle < (2*M_PI)) + { + ROS_INFO_STREAM("Cut at specific angle feature activated. " + "Cutting velodyne points always at " << cut_angle << " rad."); + } + else + { + ROS_ERROR_STREAM("cut_angle parameter is out of range. Allowed range is " + << "between 0.0 and 2*PI or negative values to deactivate this feature."); + cut_angle = -0.01; + } + + // Convert cut_angle from radian to one-hundredth degree, + // which is used in velodyne packets + config_.cut_angle = int((cut_angle*360/(2*M_PI))*100); + + int udp_port; + private_nh.param("port", udp_port, (int) DATA_PORT_NUMBER); + + // Initialize dynamic reconfigure + srv_ = boost::make_shared > (private_nh); + dynamic_reconfigure::Server:: + CallbackType f; + f = boost::bind (&VelodyneDriver::callback, this, _1, _2); + srv_->setCallback (f); // Set callback function und call initially + + // initialize diagnostics + diagnostics_.setHardwareID(deviceName); + const double diag_freq = packet_rate/config_.npackets; + diag_max_freq_ = diag_freq; + diag_min_freq_ = diag_freq; + ROS_INFO("expected frequency: %.3f (Hz)", diag_freq); + + using namespace diagnostic_updater; + diag_topic_.reset(new TopicDiagnostic("velodyne_packets", diagnostics_, + FrequencyStatusParam(&diag_min_freq_, + &diag_max_freq_, + 0.1, 10), + TimeStampStatusParam())); + diag_timer_ = private_nh.createTimer(ros::Duration(0.2), &VelodyneDriver::diagTimerCallback,this); + + config_.enabled = true; + + // open Velodyne input device or file + if (dump_file != "") // have PCAP file? + { + // read data from packet capture file + input_.reset(new velodyne_driver::InputPCAP(private_nh, udp_port, + packet_rate, dump_file)); + } + else + { + // read data from live socket + input_.reset(new velodyne_driver::InputSocket(private_nh, udp_port)); + } + + // raw packet output topic + output_ = + node.advertise("velodyne_packets", 10); + + last_azimuth_ = -1; +} + +/** poll the device + * + * @returns true unless end of file reached + */ +bool VelodyneDriver::poll(void) +{ + if (!config_.enabled) { + // If we are not enabled exit once a second to let the caller handle + // anything it might need to, such as if it needs to exit. + ros::Duration(1).sleep(); + return true; + } + + // Allocate a new shared pointer for zero-copy sharing with other nodelets. + velodyne_msgs::VelodyneScanPtr scan(new velodyne_msgs::VelodyneScan); + + if( config_.cut_angle >= 0) //Cut at specific angle feature enabled + { + scan->packets.reserve(config_.npackets); + velodyne_msgs::VelodynePacket tmp_packet; + while(true) + { + while(true) + { + int rc = input_->getPacket(&tmp_packet, config_.time_offset); + if (rc == 0) break; // got a full packet? + if (rc < 0) return false; // end of file reached? + } + scan->packets.push_back(tmp_packet); + + // Extract base rotation of first block in packet + std::size_t azimuth_data_pos = 100*0+2; + int azimuth = *( (u_int16_t*) (&tmp_packet.data[azimuth_data_pos])); + + //if first packet in scan, there is no "valid" last_azimuth_ + if (last_azimuth_ == -1) { + last_azimuth_ = azimuth; + continue; + } + if((last_azimuth_ < config_.cut_angle && config_.cut_angle <= azimuth) + || ( config_.cut_angle <= azimuth && azimuth < last_azimuth_) + || (azimuth < last_azimuth_ && last_azimuth_ < config_.cut_angle)) + { + last_azimuth_ = azimuth; + break; // Cut angle passed, one full revolution collected + } + last_azimuth_ = azimuth; + } + } + else // standard behaviour + { + // Since the velodyne delivers data at a very high rate, keep + // reading and publishing scans as fast as possible. + scan->packets.resize(config_.npackets); + for (int i = 0; i < config_.npackets; ++i) + { + while (true) + { + // keep reading until full packet received + int rc = input_->getPacket(&scan->packets[i], config_.time_offset); + if (rc == 0) break; // got a full packet? + if (rc < 0) return false; // end of file reached? + } + } + } + + // publish message using time of last packet read + ROS_DEBUG("Publishing a full Velodyne scan."); + if (config_.timestamp_first_packet){ + scan->header.stamp = scan->packets.front().stamp; + } + else{ + scan->header.stamp = scan->packets.back().stamp; + } + scan->header.frame_id = config_.frame_id; + output_.publish(scan); + + // notify diagnostics that a message has been published, updating + // its status + diag_topic_->tick(scan->header.stamp); + diagnostics_.update(); + + return true; +} + +void VelodyneDriver::callback(velodyne_driver::VelodyneNodeConfig &config, + uint32_t level) +{ + ROS_INFO("Reconfigure Request"); + if (level & 1) + { + config_.time_offset = config.time_offset; + } + if (level & 2) + { + config_.enabled = config.enabled; + } +} + +void VelodyneDriver::diagTimerCallback(const ros::TimerEvent &event) +{ + (void)event; + // Call necessary to provide an error when no velodyne packets are received + diagnostics_.update(); +} + +} // namespace velodyne_driver diff --git a/src/velodyne/velodyne_driver/src/driver/nodelet.cc b/src/velodyne/velodyne_driver/src/driver/nodelet.cc new file mode 100644 index 0000000..cd3901b --- /dev/null +++ b/src/velodyne/velodyne_driver/src/driver/nodelet.cc @@ -0,0 +1,109 @@ +// Copyright (C) 2012 Austin Robot Technology, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * ROS driver nodelet for the Velodyne 3D LIDARs + */ + +#include +#include + +#include +#include +#include + +#include "velodyne_driver/driver.h" + +namespace velodyne_driver +{ + +class DriverNodelet: public nodelet::Nodelet +{ +public: + + DriverNodelet(): + running_(false) + {} + + ~DriverNodelet() + { + if (running_) + { + NODELET_INFO("shutting down driver thread"); + running_ = false; + deviceThread_->join(); + NODELET_INFO("driver thread stopped"); + } + } + +private: + + virtual void onInit(void); + virtual void devicePoll(void); + + volatile bool running_; ///< device thread is running + boost::shared_ptr deviceThread_; + + boost::shared_ptr dvr_; ///< driver implementation class +}; + +void DriverNodelet::onInit() +{ + // start the driver + dvr_.reset(new VelodyneDriver(getNodeHandle(), getPrivateNodeHandle(), getName())); + + // spawn device poll thread + running_ = true; + deviceThread_ = boost::shared_ptr< boost::thread > + (new boost::thread(boost::bind(&DriverNodelet::devicePoll, this))); +} + +/** @brief Device poll thread main loop. */ +void DriverNodelet::devicePoll() +{ + while(ros::ok()) + { + // poll device until end of file + running_ = dvr_->poll(); + if (!running_) + ROS_ERROR_THROTTLE(1.0, "DriverNodelet::devicePoll - Failed to poll device."); + } + running_ = false; +} + +} // namespace velodyne_driver + +// Register this plugin with pluginlib. Names must match nodelet_velodyne.xml. +// +// parameters are: class type, base class type +PLUGINLIB_EXPORT_CLASS(velodyne_driver::DriverNodelet, nodelet::Nodelet) diff --git a/src/velodyne/velodyne_driver/src/driver/velodyne_node.cc b/src/velodyne/velodyne_driver/src/driver/velodyne_node.cc new file mode 100644 index 0000000..b468e9d --- /dev/null +++ b/src/velodyne/velodyne_driver/src/driver/velodyne_node.cc @@ -0,0 +1,62 @@ +// Copyright (C) 2012 Austin Robot Technology, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * ROS driver node for the Velodyne 3D LIDARs. + */ + +#include +#include "velodyne_driver/driver.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "velodyne_node"); + ros::NodeHandle node; + ros::NodeHandle private_nh("~"); + + // start the driver + velodyne_driver::VelodyneDriver dvr(node, private_nh); + + // loop until shut down or end of file + while(ros::ok()) + { + // poll device until end of file + bool polled_ = dvr.poll(); + if (!polled_) + ROS_ERROR_THROTTLE(1.0, "Velodyne - Failed to poll device."); + + ros::spinOnce(); + } + + return 0; +} diff --git a/src/velodyne/velodyne_driver/src/lib/CMakeLists.txt b/src/velodyne/velodyne_driver/src/lib/CMakeLists.txt new file mode 100644 index 0000000..29b9d22 --- /dev/null +++ b/src/velodyne/velodyne_driver/src/lib/CMakeLists.txt @@ -0,0 +1,12 @@ +add_library(velodyne_input input.cc) +target_link_libraries(velodyne_input + ${catkin_LIBRARIES} + ${libpcap_LIBRARIES} +) +if(catkin_EXPORTED_TARGETS) + add_dependencies(velodyne_input ${catkin_EXPORTED_TARGETS}) +endif() + +install(TARGETS velodyne_input + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/src/velodyne/velodyne_driver/src/lib/input.cc b/src/velodyne/velodyne_driver/src/lib/input.cc new file mode 100644 index 0000000..76ee219 --- /dev/null +++ b/src/velodyne/velodyne_driver/src/lib/input.cc @@ -0,0 +1,376 @@ +// Copyright (C) 2007, 2009, 2010, 2015 Austin Robot Technology, Patrick Beeson, Jack O'Quin +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * Input classes for the Velodyne HDL-64E 3D LIDAR: + * + * Input -- base class used to access the data independently of + * its source + * + * InputSocket -- derived class reads live data from the device + * via a UDP socket + * + * InputPCAP -- derived class provides a similar interface from a + * PCAP dump + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace velodyne_driver +{ + static const size_t packet_size = + sizeof(velodyne_msgs::VelodynePacket().data); + + //////////////////////////////////////////////////////////////////////// + // Input base class implementation + //////////////////////////////////////////////////////////////////////// + + /** @brief constructor + * + * @param private_nh ROS private handle for calling node. + * @param port UDP port number. + */ + Input::Input(ros::NodeHandle private_nh, uint16_t port): + private_nh_(private_nh), + port_(port) + { + private_nh.param("device_ip", devip_str_, std::string("")); + private_nh.param("gps_time", gps_time_, false); + if (!devip_str_.empty()) + ROS_INFO_STREAM("Only accepting packets from IP address: " + << devip_str_); + } + + //////////////////////////////////////////////////////////////////////// + // InputSocket class implementation + //////////////////////////////////////////////////////////////////////// + + /** @brief constructor + * + * @param private_nh ROS private handle for calling node. + * @param port UDP port number + */ + InputSocket::InputSocket(ros::NodeHandle private_nh, uint16_t port): + Input(private_nh, port) + { + sockfd_ = -1; + + if (!devip_str_.empty()) { + inet_aton(devip_str_.c_str(),&devip_); + } + + // connect to Velodyne UDP port + ROS_INFO_STREAM("Opening UDP socket: port " << port); + sockfd_ = socket(PF_INET, SOCK_DGRAM, 0); + if (sockfd_ == -1) + { + perror("socket"); // TODO: ROS_ERROR errno + return; + } + + sockaddr_in my_addr; // my address information + memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros + my_addr.sin_family = AF_INET; // host byte order + my_addr.sin_port = htons(port); // port in network byte order + my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP + + // compatibility with Spot Core EAP, reuse port 2368 + int val = 1; + if(setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, &val, sizeof(val)) == -1) { + perror("socketopt"); + return; + } + + if (bind(sockfd_, (sockaddr *)&my_addr, sizeof(sockaddr)) == -1) + { + perror("bind"); // TODO: ROS_ERROR errno + return; + } + + if (fcntl(sockfd_,F_SETFL, O_NONBLOCK|FASYNC) < 0) + { + perror("non-block"); + return; + } + + ROS_DEBUG("Velodyne socket fd is %d\n", sockfd_); + } + + /** @brief destructor */ + InputSocket::~InputSocket(void) + { + (void) close(sockfd_); + } + + /** @brief Get one velodyne packet. */ + int InputSocket::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset) + { + double time1 = ros::Time::now().toSec(); + + struct pollfd fds[1]; + fds[0].fd = sockfd_; + fds[0].events = POLLIN; + static const int POLL_TIMEOUT = 1000; // one second (in msec) + + sockaddr_in sender_address; + socklen_t sender_address_len = sizeof(sender_address); + + while (true) + { + // Unfortunately, the Linux kernel recvfrom() implementation + // uses a non-interruptible sleep() when waiting for data, + // which would cause this method to hang if the device is not + // providing data. We poll() the device first to make sure + // the recvfrom() will not block. + // + // Note, however, that there is a known Linux kernel bug: + // + // Under Linux, select() may report a socket file descriptor + // as "ready for reading", while nevertheless a subsequent + // read blocks. This could for example happen when data has + // arrived but upon examination has wrong checksum and is + // discarded. There may be other circumstances in which a + // file descriptor is spuriously reported as ready. Thus it + // may be safer to use O_NONBLOCK on sockets that should not + // block. + + // poll() until input available + do + { + int retval = poll(fds, 1, POLL_TIMEOUT); + if (retval < 0) // poll() error? + { + if (errno != EINTR) + ROS_ERROR("poll() error: %s", strerror(errno)); + return -1; + } + if (retval == 0) // poll() timeout? + { + ROS_WARN("Velodyne poll() timeout"); + return -1; + } + if ((fds[0].revents & POLLERR) + || (fds[0].revents & POLLHUP) + || (fds[0].revents & POLLNVAL)) // device error? + { + ROS_ERROR("poll() reports Velodyne error"); + return -1; + } + } while ((fds[0].revents & POLLIN) == 0); + + // Receive packets that should now be available from the + // socket using a blocking read. + ssize_t nbytes = recvfrom(sockfd_, &pkt->data[0], + packet_size, 0, + (sockaddr*) &sender_address, + &sender_address_len); + + if (nbytes < 0) + { + if (errno != EWOULDBLOCK) + { + perror("recvfail"); + ROS_INFO("recvfail"); + return -1; + } + } + else if ((size_t) nbytes == packet_size) + { + // read successful, + // if packet is not from the lidar scanner we selected by IP, + // continue otherwise we are done + if(devip_str_ != "" + && sender_address.sin_addr.s_addr != devip_.s_addr) + continue; + else + break; //done + } + + ROS_DEBUG_STREAM("incomplete Velodyne packet read: " + << nbytes << " bytes"); + } + + if (!gps_time_) { + // Average the times at which we begin and end reading. Use that to + // estimate when the scan occurred. Add the time offset. + double time2 = ros::Time::now().toSec(); + pkt->stamp = ros::Time((time2 + time1) / 2.0 + time_offset); + } else { + // time for each packet is a 4 byte uint located starting at offset 1200 in + // the data packet + pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200])); + } + + return 0; + } + + //////////////////////////////////////////////////////////////////////// + // InputPCAP class implementation + //////////////////////////////////////////////////////////////////////// + + /** @brief constructor + * + * @param private_nh ROS private handle for calling node. + * @param port UDP port number + * @param packet_rate expected device packet frequency (Hz) + * @param filename PCAP dump file name + */ + InputPCAP::InputPCAP(ros::NodeHandle private_nh, uint16_t port, + double packet_rate, std::string filename, + bool read_once, bool read_fast, double repeat_delay): + Input(private_nh, port), + packet_rate_(packet_rate), + filename_(filename) + { + pcap_ = NULL; + empty_ = true; + + // get parameters using private node handle + private_nh.param("read_once", read_once_, false); + private_nh.param("read_fast", read_fast_, false); + private_nh.param("repeat_delay", repeat_delay_, 0.0); + private_nh.param("pcap_time", pcap_time_, false); + + if (read_once_) + ROS_INFO("Read input file only once."); + if (read_fast_) + ROS_INFO("Read input file as quickly as possible."); + if (repeat_delay_ > 0.0) + ROS_INFO("Delay %.3f seconds before repeating input file.", + repeat_delay_); + + // Open the PCAP dump file + ROS_INFO("Opening PCAP file \"%s\"", filename_.c_str()); + if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_) ) == NULL) + { + ROS_FATAL("Error opening Velodyne socket dump file."); + return; + } + + std::stringstream filter; + if( devip_str_ != "" ) // using specific IP? + { + filter << "src host " << devip_str_ << " && "; + } + filter << "udp dst port " << port; + pcap_compile(pcap_, &pcap_packet_filter_, + filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN); + } + + /** destructor */ + InputPCAP::~InputPCAP(void) + { + pcap_close(pcap_); + } + + /** @brief Get one velodyne packet. */ + int InputPCAP::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset) + { + struct pcap_pkthdr *header; + const u_char *pkt_data; + + while (true) + { + int res; + if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) + { + // Skip packets not for the correct port and from the + // selected IP address. + if (0 == pcap_offline_filter(&pcap_packet_filter_, + header, pkt_data)) + continue; + + // Keep the reader from blowing through the file. + if (read_fast_ == false) + packet_rate_.sleep(); + + memcpy(&pkt->data[0], pkt_data+42, packet_size); + if (!gps_time_) { + if (!pcap_time_) { + pkt->stamp = ros::Time::now(); // time_offset not considered here, as no synchronization required + } else { + pkt->stamp = ros::Time(header->ts.tv_sec, header->ts.tv_usec * 1000); // + } + } else { + // time for each packet is a 4 byte uint located starting at offset 1200 in + // the data packet + pkt->stamp = rosTimeFromGpsTimestamp(&(pkt->data[1200]), header); + } + empty_ = false; + return 0; // success + } + + if (empty_) // no data in file? + { + ROS_WARN("Error %d reading Velodyne packet: %s", + res, pcap_geterr(pcap_)); + return -1; + } + + if (read_once_) + { + ROS_INFO("end of file reached -- done reading."); + return -1; + } + + if (repeat_delay_ > 0.0) + { + ROS_INFO("end of file reached -- delaying %.3f seconds.", + repeat_delay_); + usleep(rint(repeat_delay_ * 1000000.0)); + } + + ROS_DEBUG("replaying Velodyne dump file"); + + // I can't figure out how to rewind the file, because it + // starts with some kind of header. So, close the file + // and reopen it with pcap. + pcap_close(pcap_); + pcap_ = pcap_open_offline(filename_.c_str(), errbuf_); + empty_ = true; // maybe the file disappeared? + } // loop back and try again + } + +} // velodyne namespace diff --git a/src/velodyne/velodyne_driver/src/vdump b/src/velodyne/velodyne_driver/src/vdump new file mode 100755 index 0000000..f095721 --- /dev/null +++ b/src/velodyne/velodyne_driver/src/vdump @@ -0,0 +1,23 @@ +#!/bin/bash + +# dump velodyne packets +# $Id: vdump 8892 2009-10-24 15:13:57Z joq $ + +if [ x$1 = x ] +then echo -e "usage:\t`basename $0` file-prefix [ interface ]" + echo -e "\n\tfile-prefix is completed with a three-digit number" + echo -e "\tinterface default is 'eth0'\n" + exit 9 +fi + +IF=${2:-eth0} +UN=`id -un` +ID=`id -u` + +echo "acquiring packets on $IF for user $UN; press ^C when done" + +if [ $ID = 0 ]; then + /usr/sbin/tcpdump -i $IF -s 0 -C 100 -W 999 -w $1 +else + sudo /usr/sbin/tcpdump -i $IF -Z $UN -s 0 -C 100 -W 999 -w $1 +fi diff --git a/src/velodyne/velodyne_driver/tests/diagnostic_agg.yaml b/src/velodyne/velodyne_driver/tests/diagnostic_agg.yaml new file mode 100644 index 0000000..00dc03c --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/diagnostic_agg.yaml @@ -0,0 +1,17 @@ +## Diagnostic aggregator parameters for testing Velodyne diagnostics. +# +# $ rosparam load $(rospack find velodyne_driver)/tests/diagnostic_agg.yaml +# $ rosrun diagnostic_aggregator aggregator_node +# +diagnostic_aggregator: + analyzers: + sensors: + type: diagnostic_aggregator/AnalyzerGroup + path: Sensors + analyzers: + velodyne: + type: diagnostic_aggregator/GenericAnalyzer + path: Velodyne HDL + timeout: 5.0 + find_and_remove_prefix: velodyne_nodelet_manager + num_items: 1 diff --git a/src/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test new file mode 100644 index 0000000..8b794da --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test new file mode 100644 index 0000000..27e6064 --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/pcap_node_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_node_hertz.test new file mode 100644 index 0000000..348e4ba --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_node_hertz.test @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test new file mode 100644 index 0000000..5d81740 --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test new file mode 100644 index 0000000..873e4fe --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test b/src/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test new file mode 100644 index 0000000..18743f9 --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_driver/tests/timeconversiontest.cpp b/src/velodyne/velodyne_driver/tests/timeconversiontest.cpp new file mode 100644 index 0000000..ab0d113 --- /dev/null +++ b/src/velodyne/velodyne_driver/tests/timeconversiontest.cpp @@ -0,0 +1,63 @@ +// Copyright (C) 2019 Matthew Pitropov, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include "velodyne_driver/time_conversion.hpp" +#include +#include + +TEST(TimeConversion, BytesToTimestamp) +{ + ros::Time::init(); + ros::Time ros_stamp = ros::Time::now(); + + // get the seconds past the hour and multiply by 1million to convert to microseconds + // divide nanoseconds by 1000 to convert to microseconds + uint32_t since_the_hour = ((ros_stamp.sec % 3600) * 1000000) + ros_stamp.nsec / 1000; + + uint8_t native_format[4]; + native_format[0] = 0xFF & since_the_hour; + native_format[1] = 0xFF & (((uint32_t)since_the_hour) >> 8); + native_format[2] = 0xFF & (((uint32_t)since_the_hour) >> 16); + native_format[3] = 0xFF & (((uint32_t)since_the_hour) >> 24); + + ros::Time ros_stamp_converted = rosTimeFromGpsTimestamp(native_format); + + ASSERT_EQ(ros_stamp_converted.sec, ros_stamp.sec); + ASSERT_NEAR(ros_stamp_converted.nsec, ros_stamp.nsec, 1000); +} + +int main(int argc, char **argv) +{ + ::testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/src/velodyne/velodyne_laserscan/CHANGELOG.rst b/src/velodyne/velodyne_laserscan/CHANGELOG.rst new file mode 100644 index 0000000..00db0c5 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_laserscan +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.6.1 (2020-11-09) +------------------ + +1.6.0 (2020-07-09) +------------------ +* Updating maintainer email address. +* Add laserscan support for new PointXYZIR structure (`#316 `_) + * Add laserscan support for new PointXYZIR structure + * Support PointCloud2 offsets that are multiples of 4 +* Merge pull request `#234 `_ from kmhallen/c++11 + Set minimum C++ standard to C++11 +* Contributors: Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Sebastian, Sebastian Pütz + +1.5.2 (2019-01-28) +------------------ + +1.5.1 (2018-12-10) +------------------ + +1.5.0 (2018-10-19) +------------------ + +1.4.0 (2018-09-19) +------------------ +* Merge pull request `#170 `_ from ros-drivers/maint/move_header_files +* Moving header files to traditional location inside include folders. +* Merge pull request `#160 `_ from ros-drivers/maint/updating_package_xml_to_v2 +* Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. + All package.xml files are now compatible with version 2 of the + package.xml specification in REP 140. Removed some unnecessary + execute permissions on a few files. Fixed a missing test_depend. +* Merge pull request `#146 `_ from stsundermann/patch-2 + Use std::abs instead of fabsf +* Merge pull request `#150 `_ from ros-drivers/mikaelarguedas-patch-1 +* update to use non deprecated pluginlib macro +* Use std::abs instead of fabsf + cfg\_.resolution is double but fabsf takes a float which may cause truncation of value. +* Contributors: Andre Volk, CNR, Joshua Whitley, Mikael Arguedas, Stephan Sundermann + +1.3.0 (2017-11-10) +------------------ +* Merge pull request `#110 `_ from kmhallen/master + Added velodyne_laserscan package +* Added tests for velodyne_laserscan +* Fixed validating PointCloud2 field types +* Package.xml format version 2 +* Merge pull request `#1 `_ from volkandre/master + Fixed bug. Laserscans now cover full 360 degrees. +* Fixed bug. Laserscans now cover full 360 degrees. +* Added velodyne_laserscan package and inserted into existing launch files +* Contributors: Joshua Whitley, Kevin Hallenbeck, kmhallen, volkandre diff --git a/src/velodyne/velodyne_laserscan/CMakeLists.txt b/src/velodyne/velodyne_laserscan/CMakeLists.txt new file mode 100644 index 0000000..73d3436 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/CMakeLists.txt @@ -0,0 +1,66 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_laserscan) + +# Set minimum C++ standard to C++11 +if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_STANDARD 11) +endif() + +find_package(catkin REQUIRED COMPONENTS + roscpp + nodelet + sensor_msgs + dynamic_reconfigure + roslint +) + +generate_dynamic_reconfigure_options( + cfg/VelodyneLaserScan.cfg +) + +catkin_package(CATKIN_DEPENDS + sensor_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/velodyne_laserscan.cpp + src/nodelet.cpp +) +add_dependencies(${PROJECT_NAME} + ${PROJECT_NAME}_gencfg +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +add_executable(${PROJECT_NAME}_node + src/node.cpp +) +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} + ${PROJECT_NAME} +) + +install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(FILES nodelets.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +roslint_cpp() + +if (CATKIN_ENABLE_TESTING) + add_subdirectory(tests) +endif() + diff --git a/src/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg b/src/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg new file mode 100755 index 0000000..deffd5f --- /dev/null +++ b/src/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg @@ -0,0 +1,13 @@ +#! /usr/bin/env python + +PACKAGE='velodyne_laserscan' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# Name Type Lvl Description Default Min Max +gen.add("ring", int_t, 0, "Ring to extract as laser scan (-1 default)", -1, -1, 31) +gen.add("resolution", double_t, 0, "Laser scan angular resolution (rad)", 0.007, 0.001, 0.05) + +exit(gen.generate(PACKAGE, PACKAGE, "VelodyneLaserScan")) diff --git a/src/velodyne/velodyne_laserscan/include/velodyne_laserscan/velodyne_laserscan.h b/src/velodyne/velodyne_laserscan/include/velodyne_laserscan/velodyne_laserscan.h new file mode 100644 index 0000000..4e0b156 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/include/velodyne_laserscan/velodyne_laserscan.h @@ -0,0 +1,72 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H +#define VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H + +#include +#include +#include + +#include +#include + +#include +#include + +namespace velodyne_laserscan +{ + +class VelodyneLaserScan +{ +public: + VelodyneLaserScan(ros::NodeHandle &nh, ros::NodeHandle &nh_priv); + +private: + boost::mutex connect_mutex_; + void connectCb(); + void recvCallback(const sensor_msgs::PointCloud2ConstPtr& msg); + + ros::NodeHandle nh_; + ros::Subscriber sub_; + ros::Publisher pub_; + + VelodyneLaserScanConfig cfg_; + dynamic_reconfigure::Server srv_; + void reconfig(VelodyneLaserScanConfig& config, uint32_t level); + + unsigned int ring_count_; +}; + +} // namespace velodyne_laserscan + +#endif // VELODYNE_LASERSCAN_VELODYNE_LASERSCAN_H diff --git a/src/velodyne/velodyne_laserscan/nodelets.xml b/src/velodyne/velodyne_laserscan/nodelets.xml new file mode 100644 index 0000000..506ae9a --- /dev/null +++ b/src/velodyne/velodyne_laserscan/nodelets.xml @@ -0,0 +1,10 @@ + + + + Extract a single ring from a Velodyne PointCloud2 and publish + as a LaserScan. + + + diff --git a/src/velodyne/velodyne_laserscan/package.xml b/src/velodyne/velodyne_laserscan/package.xml new file mode 100644 index 0000000..205d49d --- /dev/null +++ b/src/velodyne/velodyne_laserscan/package.xml @@ -0,0 +1,32 @@ + + + velodyne_laserscan + 1.6.1 + + Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message + + Josh Whitley + Micho Radovnikovich + Kevin Hallenbeck + BSD + + http://ros.org/wiki/velodyne_laserscan + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + + roslint + + roscpp + nodelet + sensor_msgs + dynamic_reconfigure + + roslaunch + rostest + + + + + diff --git a/src/velodyne/velodyne_laserscan/src/node.cpp b/src/velodyne/velodyne_laserscan/src/node.cpp new file mode 100644 index 0000000..1b9c108 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/src/node.cpp @@ -0,0 +1,49 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include +#include "velodyne_laserscan/velodyne_laserscan.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "velodyne_laserscan_node"); + ros::NodeHandle nh; + ros::NodeHandle nh_priv("~"); + + // create VelodyneLaserScan class + velodyne_laserscan::VelodyneLaserScan n(nh, nh_priv); + + // handle callbacks until shut down + ros::spin(); + + return 0; +} diff --git a/src/velodyne/velodyne_laserscan/src/nodelet.cpp b/src/velodyne/velodyne_laserscan/src/nodelet.cpp new file mode 100644 index 0000000..de726cc --- /dev/null +++ b/src/velodyne/velodyne_laserscan/src/nodelet.cpp @@ -0,0 +1,58 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include +#include +#include +#include "velodyne_laserscan/velodyne_laserscan.h" + +namespace velodyne_laserscan +{ + +class LaserScanNodelet: public nodelet::Nodelet +{ +public: + LaserScanNodelet() {} + ~LaserScanNodelet() {} + +private: + virtual void onInit() + { + node_.reset(new VelodyneLaserScan(getNodeHandle(), getPrivateNodeHandle())); + } + + boost::shared_ptr node_; +}; + +} // namespace velodyne_laserscan + +PLUGINLIB_EXPORT_CLASS(velodyne_laserscan::LaserScanNodelet, nodelet::Nodelet); diff --git a/src/velodyne/velodyne_laserscan/src/velodyne_laserscan.cpp b/src/velodyne/velodyne_laserscan/src/velodyne_laserscan.cpp new file mode 100644 index 0000000..77f7cc0 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/src/velodyne_laserscan.cpp @@ -0,0 +1,280 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include "velodyne_laserscan/velodyne_laserscan.h" +#include + +namespace velodyne_laserscan +{ + +VelodyneLaserScan::VelodyneLaserScan(ros::NodeHandle &nh, ros::NodeHandle &nh_priv) : + nh_(nh), srv_(nh_priv), ring_count_(0) +{ + ros::SubscriberStatusCallback connect_cb = boost::bind(&VelodyneLaserScan::connectCb, this); + pub_ = nh.advertise("scan", 10, connect_cb, connect_cb); + + srv_.setCallback(boost::bind(&VelodyneLaserScan::reconfig, this, _1, _2)); +} + +void VelodyneLaserScan::connectCb() +{ + boost::lock_guard lock(connect_mutex_); + if (!pub_.getNumSubscribers()) + { + sub_.shutdown(); + } + else if (!sub_) + { + sub_ = nh_.subscribe("velodyne_points", 10, &VelodyneLaserScan::recvCallback, this); + } +} + +void VelodyneLaserScan::recvCallback(const sensor_msgs::PointCloud2ConstPtr& msg) +{ + // Latch ring count + if (!ring_count_) + { + // Check for PointCloud2 field 'ring' + bool found = false; + for (size_t i = 0; i < msg->fields.size(); i++) + { + if (msg->fields[i].datatype == sensor_msgs::PointField::UINT16) + { + if (msg->fields[i].name == "ring") + { + found = true; + break; + } + } + } + if (!found) + { + ROS_ERROR("VelodyneLaserScan: Field 'ring' of type 'UINT16' not present in PointCloud2"); + return; + } + for (sensor_msgs::PointCloud2ConstIterator it(*msg, "ring"); it != it.end(); ++it) + { + const uint16_t ring = *it; + + if (ring + 1 > ring_count_) + { + ring_count_ = ring + 1; + } + } + if (ring_count_) + { + ROS_INFO("VelodyneLaserScan: Latched ring count of %u", ring_count_); + } + else + { + ROS_ERROR("VelodyneLaserScan: Field 'ring' of type 'UINT16' not present in PointCloud2"); + return; + } + } + + // Select ring to use + uint16_t ring; + + if ((cfg_.ring < 0) || (cfg_.ring >= ring_count_)) + { + // Default to ring closest to being level for each known sensor + if (ring_count_ > 32) + { + ring = 57; // HDL-64E + } + else if (ring_count_ > 16) + { + ring = 23; // HDL-32E + } + else + { + ring = 8; // VLP-16 + } + } + else + { + ring = cfg_.ring; + } + + ROS_INFO_ONCE("VelodyneLaserScan: Extracting ring %u", ring); + + // Load structure of PointCloud2 + int offset_x = -1; + int offset_y = -1; + int offset_z = -1; + int offset_i = -1; + int offset_r = -1; + + for (size_t i = 0; i < msg->fields.size(); i++) + { + if (msg->fields[i].datatype == sensor_msgs::PointField::FLOAT32) + { + if (msg->fields[i].name == "x") + { + offset_x = msg->fields[i].offset; + } + else if (msg->fields[i].name == "y") + { + offset_y = msg->fields[i].offset; + } + else if (msg->fields[i].name == "z") + { + offset_z = msg->fields[i].offset; + } + else if (msg->fields[i].name == "intensity") + { + offset_i = msg->fields[i].offset; + } + } + else if (msg->fields[i].datatype == sensor_msgs::PointField::UINT16) + { + if (msg->fields[i].name == "ring") + { + offset_r = msg->fields[i].offset; + } + } + } + + // Construct LaserScan message + if ((offset_x >= 0) && (offset_y >= 0) && (offset_r >= 0)) + { + const float RESOLUTION = std::abs(cfg_.resolution); + const size_t SIZE = 2.0 * M_PI / RESOLUTION; + sensor_msgs::LaserScanPtr scan(new sensor_msgs::LaserScan()); + scan->header = msg->header; + scan->angle_increment = RESOLUTION; + scan->angle_min = -M_PI; + scan->angle_max = M_PI; + scan->range_min = 0.0; + scan->range_max = 200.0; + scan->time_increment = 0.0; + scan->ranges.resize(SIZE, INFINITY); + + if ((offset_x == 0) && + (offset_y == 4) && + (offset_i % 4 == 0) && + (offset_r % 4 == 0)) + { + scan->intensities.resize(SIZE); + + const size_t X = 0; + const size_t Y = 1; + const size_t I = offset_i / 4; + const size_t R = offset_r / 4; + for (sensor_msgs::PointCloud2ConstIterator it(*msg, "x"); it != it.end(); ++it) + { + const uint16_t r = *((const uint16_t*)(&it[R])); // ring + + if (r == ring) + { + const float x = it[X]; // x + const float y = it[Y]; // y + const float i = it[I]; // intensity + const int bin = (atan2f(y, x) + static_cast(M_PI)) / RESOLUTION; + + if ((bin >= 0) && (bin < static_cast(SIZE))) + { + scan->ranges[bin] = sqrtf(x * x + y * y); + scan->intensities[bin] = i; + } + } + } + } + else + { + ROS_WARN_ONCE("VelodyneLaserScan: PointCloud2 fields in unexpected order. Using slower generic method."); + + if (offset_i >= 0) + { + scan->intensities.resize(SIZE); + sensor_msgs::PointCloud2ConstIterator iter_r(*msg, "ring"); + sensor_msgs::PointCloud2ConstIterator iter_x(*msg, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(*msg, "y"); + sensor_msgs::PointCloud2ConstIterator iter_i(*msg, "intensity"); + for ( ; iter_r != iter_r.end(); ++iter_x, ++iter_y, ++iter_r, ++iter_i) + { + const uint16_t r = *iter_r; // ring + + if (r == ring) + { + const float x = *iter_x; // x + const float y = *iter_y; // y + const float i = *iter_i; // intensity + const int bin = (atan2f(y, x) + static_cast(M_PI)) / RESOLUTION; + + if ((bin >= 0) && (bin < static_cast(SIZE))) + { + scan->ranges[bin] = sqrtf(x * x + y * y); + scan->intensities[bin] = i; + } + } + } + } + else + { + sensor_msgs::PointCloud2ConstIterator iter_r(*msg, "ring"); + sensor_msgs::PointCloud2ConstIterator iter_x(*msg, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(*msg, "y"); + + for (; iter_r != iter_r.end(); ++iter_x, ++iter_y, ++iter_r) + { + const uint16_t r = *iter_r; // ring + + if (r == ring) + { + const float x = *iter_x; // x + const float y = *iter_y; // y + const int bin = (atan2f(y, x) + static_cast(M_PI)) / RESOLUTION; + + if ((bin >= 0) && (bin < static_cast(SIZE))) + { + scan->ranges[bin] = sqrtf(x * x + y * y); + } + } + } + } + } + + pub_.publish(scan); + } + else + { + ROS_ERROR("VelodyneLaserScan: PointCloud2 missing one or more required fields! (x,y,ring)"); + } +} + +void VelodyneLaserScan::reconfig(VelodyneLaserScanConfig& config, uint32_t level) +{ + cfg_ = config; +} + +} // namespace velodyne_laserscan diff --git a/src/velodyne/velodyne_laserscan/tests/CMakeLists.txt b/src/velodyne/velodyne_laserscan/tests/CMakeLists.txt new file mode 100644 index 0000000..3b23421 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/CMakeLists.txt @@ -0,0 +1,30 @@ +### Unit tests +# +# Only configured when CATKIN_ENABLE_TESTING is true. + +# These dependencies are only needed for unit testing +find_package(roslaunch REQUIRED) +find_package(rostest REQUIRED) + +# C++ gtests +#catkin_add_gtest(test_calibration test_calibration.cpp) +#add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS}) +#target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES}) + +# ROS rostests +add_rostest_gtest(test_lazy_subscriber_node lazy_subscriber_node.test lazy_subscriber.cpp) +add_dependencies(test_lazy_subscriber_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_lazy_subscriber_node ${catkin_LIBRARIES}) + +add_rostest_gtest(test_lazy_subscriber_nodelet lazy_subscriber_nodelet.test lazy_subscriber.cpp) +add_dependencies(test_lazy_subscriber_nodelet ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_lazy_subscriber_nodelet ${catkin_LIBRARIES}) + +add_rostest_gtest(test_system_node system_node.test system.cpp) +add_dependencies(test_system_node ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_system_node ${catkin_LIBRARIES}) + +add_rostest_gtest(test_system_nodelet system_nodelet.test system.cpp) +add_dependencies(test_system_nodelet ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_system_nodelet ${catkin_LIBRARIES}) + diff --git a/src/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp new file mode 100644 index 0000000..36aaf19 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp @@ -0,0 +1,124 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include + +#include +#include +#include + +// Subscriber receive callback +void recv(const sensor_msgs::LaserScanConstPtr& msg) {} + +// Build and publish a minimal PointCloud2 message +void publish(const ros::Publisher &pub) +{ + const uint32_t POINT_STEP = 32; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = ""; + msg.header.stamp = ros::Time::now(); + msg.fields.resize(5); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "intensity"; + msg.fields[3].offset = 16; + msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[3].count = 1; + msg.fields[4].name = "ring"; + msg.fields[4].offset = 20; + msg.fields[4].datatype = sensor_msgs::PointField::UINT16; + msg.fields[4].count = 1; + msg.data.resize(1 * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + pub.publish(msg); +} + +// Verify correct handling of subscribe and unsubscribe events +TEST(Main, subscribe_unsubscribe) +{ + ros::NodeHandle nh; + ros::Publisher pub = nh.advertise("velodyne_points", 2); + + // Wait for node to startup + ros::WallDuration(2.0).sleep(); + ros::spinOnce(); + EXPECT_EQ(0, pub.getNumSubscribers()); + + // Subscribe to 'scan' and expect the node to subscribe to 'velodyne_points' + ros::Subscriber sub = nh.subscribe("scan", 2, recv); + + for (size_t i = 10; i > 0; i--) + { + publish(pub); + ros::WallDuration(0.1).sleep(); + ros::spinOnce(); + } + + EXPECT_EQ(1, sub.getNumPublishers()); + EXPECT_EQ(1, pub.getNumSubscribers()); + + // Unsubscribe from 'scan' and expect the node to unsubscribe from 'velodyne_points' + sub.shutdown(); + + for (size_t i = 10; i > 0; i--) + { + publish(pub); + ros::WallDuration(0.1).sleep(); + ros::spinOnce(); + } + + EXPECT_EQ(0, sub.getNumPublishers()); + EXPECT_EQ(0, pub.getNumSubscribers()); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_lazy_subscriber"); + return RUN_ALL_TESTS(); +} diff --git a/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test new file mode 100644 index 0000000..f852b0b --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test new file mode 100644 index 0000000..787a3a2 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_laserscan/tests/system.cpp b/src/velodyne/velodyne_laserscan/tests/system.cpp new file mode 100644 index 0000000..2696ca6 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/system.cpp @@ -0,0 +1,711 @@ +// Copyright (C) 2018, 2019 Kevin Hallenbeck, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include + +#include +#include +#include + +#include +#include +#include + +// Define our own PointCloud type for easy use +typedef struct +{ + float x; // x + float y; // y + float z; // z + float i; // intensity + uint16_t r; // ring +} +Point; + +typedef struct +{ + std_msgs::Header header; + std::vector points; +} +PointCloud; + +// Global variables +ros::Publisher g_pub; +ros::Subscriber g_sub; +sensor_msgs::LaserScan g_scan; +volatile bool g_scan_new = false; + +// Convert WallTime to Time +static inline ros::Time rosTime(const ros::WallTime &stamp) +{ + return ros::Time(stamp.sec, stamp.nsec); +} + +// Subscriber receive callback +void recv(const sensor_msgs::LaserScanConstPtr& msg) +{ + g_scan = *msg; + g_scan_new = true; +} + +// Wait for incoming LaserScan message +bool waitForScan(ros::WallDuration dur) +{ + const ros::WallTime start = ros::WallTime::now(); + + while (!g_scan_new) + { + if ((ros::WallTime::now() - start) > dur) + { + return false; + } + + ros::WallDuration(0.001).sleep(); + ros::spinOnce(); + } + + return true; +} + +// Build and publish PointCloud2 messages of various structures +void publishXYZIR1(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 32; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = cloud.header.frame_id; + msg.header.stamp = cloud.header.stamp; + msg.fields.resize(5); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "intensity"; + msg.fields[3].offset = 16; + msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[3].count = 1; + msg.fields[4].name = "ring"; + msg.fields[4].offset = 20; + msg.fields[4].datatype = sensor_msgs::PointField::UINT16; + msg.fields[4].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].x; + *(reinterpret_cast(ptr + 4)) = cloud.points[i].y; + *(reinterpret_cast(ptr + 8)) = cloud.points[i].z; + *(reinterpret_cast(ptr + 16)) = cloud.points[i].i; + *(reinterpret_cast(ptr + 20)) = cloud.points[i].r; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishXYZIR2(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 19; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = cloud.header.frame_id; + msg.header.stamp = cloud.header.stamp; + msg.fields.resize(5); + msg.fields[0].name = "z"; + msg.fields[0].offset = 4; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 8; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "x"; + msg.fields[2].offset = 12; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "intensity"; + msg.fields[3].offset = 0; + msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[3].count = 1; + msg.fields[4].name = "ring"; + msg.fields[4].offset = 16; + msg.fields[4].datatype = sensor_msgs::PointField::UINT16; + msg.fields[4].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].i; + *(reinterpret_cast(ptr + 4)) = cloud.points[i].z; + *(reinterpret_cast(ptr + 8)) = cloud.points[i].y; + *(reinterpret_cast(ptr + 12)) = cloud.points[i].x; + *(reinterpret_cast(ptr + 16)) = cloud.points[i].r; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishXYZR(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 15; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = cloud.header.frame_id; + msg.header.stamp = cloud.header.stamp; + msg.fields.resize(4); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "ring"; + msg.fields[3].offset = 12; + msg.fields[3].datatype = sensor_msgs::PointField::UINT16; + msg.fields[3].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].x; + *(reinterpret_cast(ptr + 4)) = cloud.points[i].y; + *(reinterpret_cast(ptr + 8)) = cloud.points[i].z; + *(reinterpret_cast(ptr + 12)) = cloud.points[i].r; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishR(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 2; + sensor_msgs::PointCloud2 msg; + msg.header.stamp = rosTime(ros::WallTime::now()); + msg.fields.resize(1); + msg.fields[0].name = "ring"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::UINT16; + msg.fields[0].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].r; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishXYZR32(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 16; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = cloud.header.frame_id; + msg.header.stamp = cloud.header.stamp; + msg.fields.resize(4); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "ring"; + msg.fields[3].offset = 12; + msg.fields[3].datatype = sensor_msgs::PointField::UINT32; + msg.fields[3].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].x; + *(reinterpret_cast(ptr + 4)) = cloud.points[i].y; + *(reinterpret_cast(ptr + 8)) = cloud.points[i].z; + *(reinterpret_cast(ptr + 12)) = cloud.points[i].r; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishXYZ(const PointCloud &cloud) +{ + g_scan_new = false; + const uint32_t POINT_STEP = 12; + sensor_msgs::PointCloud2 msg; + msg.header.stamp = rosTime(ros::WallTime::now()); + msg.fields.resize(3); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + uint8_t *ptr = msg.data.data(); + + for (size_t i = 0; i < cloud.points.size(); i++) + { + *(reinterpret_cast(ptr + 0)) = cloud.points[i].x; + *(reinterpret_cast(ptr + 4)) = cloud.points[i].y; + *(reinterpret_cast(ptr + 8)) = cloud.points[i].z; + ptr += POINT_STEP; + } + + g_pub.publish(msg); +} + +void publishNone() +{ + g_scan_new = false; + const uint32_t POINT_STEP = 16; + sensor_msgs::PointCloud2 msg; + msg.header.stamp = rosTime(ros::WallTime::now()); + msg.data.resize(1 * POINT_STEP, 0x00); + msg.point_step = POINT_STEP; + msg.row_step = msg.data.size(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + g_pub.publish(msg); +} + +// Find the index of the point in the PointCloud with the shortest 2d distance to the point (x,y) +static inline float SQUARE(float x) +{ + return x * x; +} + +size_t findClosestIndex(const PointCloud &cloud, uint16_t ring, float x, float y) +{ + size_t index = SIZE_MAX; + float delta = INFINITY; + + for (size_t i = 0; i < cloud.points.size(); i++) + { + if (cloud.points[i].r == ring) + { + float dist = SQUARE(x - cloud.points[i].x) + SQUARE(y - cloud.points[i].y); + + if (dist < delta) + { + delta = dist; + index = i; + } + } + } + + return index; +} + +// Verify that all LaserScan header values are values are passed through, and other values are default +void verifyScanEmpty(const PointCloud &cloud, bool intensity = true) +{ + ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); + EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); + + for (size_t i = 0; i < g_scan.ranges.size(); i++) + { + EXPECT_EQ(INFINITY, g_scan.ranges[i]); + } + + if (!intensity) + { + EXPECT_EQ(0, g_scan.intensities.size()); + } + else + { + EXPECT_EQ(g_scan.ranges.size(), g_scan.intensities.size()); + + for (size_t i = 0; i < g_scan.intensities.size(); i++) + { + EXPECT_EQ(0.0, g_scan.intensities[i]); + } + } +} + +// Verify that every PointCloud point made it to the LaserScan and other values are default +void verifyScanSparse(const PointCloud &cloud, uint16_t ring, uint16_t ring_count, bool intensity = true) +{ + ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); + EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); + EXPECT_EQ(intensity ? g_scan.ranges.size() : 0, g_scan.intensities.size()); + size_t count = 0; + + for (size_t i = 0; i < g_scan.ranges.size(); i++) + { + double r = g_scan.ranges[i]; + + if (std::isfinite(r)) + { + float a = g_scan.angle_min + i * g_scan.angle_increment; + float x = g_scan.ranges[i] * cosf(a); + float y = g_scan.ranges[i] * sinf(a); + float e = g_scan.ranges[i] * g_scan.angle_increment + static_cast(1e-3); // allowable error + size_t index = findClosestIndex(cloud, ring, x, y); + + if (index < cloud.points.size()) + { + count++; + EXPECT_NEAR(cloud.points[index].x, x, e); + EXPECT_NEAR(cloud.points[index].y, y, e); + + if (i < g_scan.intensities.size()) + { + EXPECT_EQ(cloud.points[index].i, g_scan.intensities[i]); + } + } + else + { + EXPECT_TRUE(false); // LaserScan point not found in PointCloud + } + } + else + { + EXPECT_EQ(INFINITY, r); + } + } + + if (ring_count > 0) + { + EXPECT_EQ(cloud.points.size() / ring_count, count); // Make sure that all points were converted to ranges + } +} + +// Verify that every LaserScan point is not default, and every point came from the PointCloud +void verifyScanDense(const PointCloud &cloud, uint16_t ring, bool intensity = true) +{ + ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); + EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); + EXPECT_EQ(intensity ? g_scan.ranges.size() : 0, g_scan.intensities.size()); + + for (size_t i = 0; i < g_scan.ranges.size(); i++) + { + double r = g_scan.ranges[i]; + + if (std::isfinite(r)) + { + float a = g_scan.angle_min + i * g_scan.angle_increment; + float x = g_scan.ranges[i] * cosf(a); + float y = g_scan.ranges[i] * sinf(a); + float e = g_scan.ranges[i] * g_scan.angle_increment + static_cast(1e-3); // allowable error + size_t index = findClosestIndex(cloud, ring, x, y); + + if (index < cloud.points.size()) + { + EXPECT_NEAR(cloud.points[index].x, x, e); + EXPECT_NEAR(cloud.points[index].y, y, e); + // @TODO: Test for matching intensity + } + else + { + EXPECT_TRUE(false); // LaserScan point not found in PointCloud + } + } + else + { + EXPECT_TRUE(false); // Dense PointCloud should populate every range in LaserScan + } + } +} + +// Verify that no LaserScan is generated when the PointCloud2 message is missing required fields +TEST(System, missing_fields) +{ + // Make sure system is connected + ASSERT_EQ(1, g_sub.getNumPublishers()); + ASSERT_EQ(1, g_pub.getNumSubscribers()); + + // Create PointCloud with 16 rings + PointCloud cloud; + cloud.points.resize(1); + cloud.points[0].x = 0.0; + cloud.points[0].y = 0.0; + cloud.points[0].z = 0.0; + cloud.points[0].i = 0.0; + cloud.points[0].r = 15; + + // Verify no LaserScan when PointCloud2 fields are empty + publishNone(); + EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); + + // Verify no LaserScan when PointCloud2 fields are missing 'ring' + publishXYZ(cloud); + EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); + + // Verify no LaserScan when PointCloud2 field 'ring' is the incorrect type + publishXYZR32(cloud); + EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); + + + // Verify no LaserScan when PointCloud2 fields are missing 'x' and 'y' + publishR(cloud); + EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); + + // Verify that the node hasn't crashed by sending normal PointCloud2 fields + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR1(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); +} + +// Verify that non-point fields are passed through unmodified +TEST(System, empty_data) +{ + // Make sure system is connected + ASSERT_EQ(1, g_sub.getNumPublishers()); + ASSERT_EQ(1, g_pub.getNumSubscribers()); + + // Create PointCloud with 16 rings + PointCloud cloud; + cloud.header.frame_id = "abcdefghijklmnopqrstuvwxyz"; + cloud.points.resize(1); + cloud.points[0].x = 0.0; + cloud.points[0].y = 0.0; + cloud.points[0].z = 0.0; + cloud.points[0].i = 0.0; + cloud.points[0].r = 15; + + // Verify that all three PointCloud2 types create proper default values + + // PointXYZIR (expected format) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR1(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanEmpty(cloud, true); + + // PointXYZIR (unexpected format with intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR2(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanEmpty(cloud, true); + + // PointXYZR (unexpected format without intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZR(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanEmpty(cloud, false); +} + +// Verify that every piece of a small amount of random data is passed through +TEST(System, random_data_sparse) +{ + // Make sure system is connected + ASSERT_EQ(1, g_sub.getNumPublishers()); + ASSERT_EQ(1, g_pub.getNumSubscribers()); + + // Create PointCloud with sparse random data + PointCloud cloud; + cloud.header.frame_id = "velodyne"; + const size_t RANGE_COUNT = 100; + const size_t RING_COUNT = 16; + const double RANGE_MAX = 20.0; + const double INTENSITY_MAX = 1.0; + + for (size_t i = 0; i < RANGE_COUNT; i++) + { + double angle_y = i * 1.99 * M_PI / RANGE_COUNT; // yaw + + for (size_t j = 0; j < RING_COUNT; j++) + { + double angle_p = j * 0.2 * M_PI / RING_COUNT - 0.1 * M_PI; // pitch + double range = std::rand() * (RANGE_MAX / RAND_MAX); + Point point; + point.x = range * cos(angle_p) * cos(angle_y); + point.y = range * cos(angle_p) * sin(angle_y); + point.z = range * sin(angle_p); + point.i = std::rand() * (INTENSITY_MAX / RAND_MAX); + point.r = j; + cloud.points.push_back(point); + } + } + + // Verify that all three PointCloud2 types are handled correctly + + // PointXYZIR (expected format) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR1(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanSparse(cloud, 8, RING_COUNT, true); + + // PointXYZIR (unexpected format with intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR2(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanSparse(cloud, 8, RING_COUNT, true); + + // PointXYZR (unexpected format without intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZR(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanSparse(cloud, 8, RING_COUNT, false); +} + +// Verify that every LaserScan range is valid when given an extra large amount of random data +TEST(System, random_data_dense) +{ + // Make sure system is connected + ASSERT_EQ(1, g_sub.getNumPublishers()); + ASSERT_EQ(1, g_pub.getNumSubscribers()); + + // Create PointCloud with dense random data + PointCloud cloud; + cloud.header.frame_id = "velodyne"; + const size_t RANGE_COUNT = 2500; + const size_t RING_COUNT = 16; + const double RANGE_MAX = 20.0; + const double INTENSITY_MAX = 1.0; + + for (size_t i = 0; i < RANGE_COUNT; i++) + { + double angle_y = i * 2.0 * M_PI / RANGE_COUNT; // yaw + + for (size_t j = 0; j < RING_COUNT; j++) + { + double angle_p = j * 0.2 * M_PI / RING_COUNT - 0.1 * M_PI; // pitch + double range = std::rand() * (RANGE_MAX / RAND_MAX); + Point point; + point.x = range * cos(angle_p) * cos(angle_y); + point.y = range * cos(angle_p) * sin(angle_y); + point.z = range * sin(angle_p); + point.i = std::rand() * (INTENSITY_MAX / RAND_MAX); + point.r = j; + cloud.points.push_back(point); + } + } + + // Verify that all three PointCloud2 types are handled correctly + + // PointXYZIR (expected format) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR1(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanDense(cloud, 8, true); + + // PointXYZIR (unexpected format with intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZIR2(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanDense(cloud, 8, true); + + // PointXYZR (unexpected format without intensity) + cloud.header.stamp = rosTime(ros::WallTime::now()); + publishXYZR(cloud); + ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); + verifyScanDense(cloud, 8, false); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + // Initialize ROS + ros::init(argc, argv, "test_lazy_subscriber"); + ros::NodeHandle nh; + + // Setup publisher and subscriber + g_pub = nh.advertise("velodyne_points", 2); + g_sub = nh.subscribe("scan", 2, recv); + + // Wait for other nodes to startup + ros::WallDuration(1.0).sleep(); + ros::spinOnce(); + + // Run all the tests that were declared with TEST() + return RUN_ALL_TESTS(); +} diff --git a/src/velodyne/velodyne_laserscan/tests/system_node.test b/src/velodyne/velodyne_laserscan/tests/system_node.test new file mode 100644 index 0000000..05daf8b --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/system_node.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_laserscan/tests/system_nodelet.test b/src/velodyne/velodyne_laserscan/tests/system_nodelet.test new file mode 100644 index 0000000..55a1e99 --- /dev/null +++ b/src/velodyne/velodyne_laserscan/tests/system_nodelet.test @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_msgs/CHANGELOG.rst b/src/velodyne/velodyne_msgs/CHANGELOG.rst new file mode 100644 index 0000000..7d0d1ab --- /dev/null +++ b/src/velodyne/velodyne_msgs/CHANGELOG.rst @@ -0,0 +1,94 @@ +Change history +============== + +1.6.1 (2020-11-09) +------------------ + +1.6.0 (2020-07-09) +------------------ +* Updating maintainer email address. +* Contributors: Joshua Whitley, Sebastian Pütz + +1.5.2 (2019-01-28) +------------------ + +1.5.1 (2018-12-10) +------------------ + +1.5.0 (2018-10-19) +------------------ + +1.4.0 (2018-09-19) +------------------ +* Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. + All package.xml files are now compatible with version 2 of the + package.xml specification in REP 140. Removed some unnecessary + execute permissions on a few files. Fixed a missing test_depend. +* Updated cut_at_specified_angle_feature with latest master version. +* Contributors: Andre Volk, Joshua Whitley + +1.3.0 (2017-11-10) +------------------ + +1.2.0 (2014-08-06) +------------------ + +1.1.2 (2013-11-05) +------------------- + +1.1.1 (2013-07-30) +------------------ + +1.1.0 (2013-07-16) +------------------ + +1.0.1 (2013-06-15) +------------------ + +1.0.0 (2013-06-14) +------------------ + + * Convert to catkin (`#1`_). + * Release to Hydro. + +0.9.2 (2013-07-08) +------------------ + +0.9.1 (2012-06-05) +------------------ + + * Released to Electric, Fuerte and Groovy. + +0.9.0 (2012-04-03) +------------------ + + * Completely revised API, anticipating a 1.0.0 release. + * Released to Electric, Fuerte and Groovy. + +0.2.6 (2011-02-23) +------------------ + +0.2.5 (2010-11-19) +------------------ + + * Initial implementation of new 0.3 interfaces. + * Support for ROS 1.3 `std_msgs::Header` changes. + +0.2.0 (2010-08-17) +------------------ + + * Initial release to ROS C-turtle. + +.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1 +.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4 +.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7 +.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8 +.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9 +.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10 +.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11 +.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12 +.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13 +.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14 +.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17 +.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18 +.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20 diff --git a/src/velodyne/velodyne_msgs/CMakeLists.txt b/src/velodyne/velodyne_msgs/CMakeLists.txt new file mode 100644 index 0000000..d3485da --- /dev/null +++ b/src/velodyne/velodyne_msgs/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) + +add_message_files( + DIRECTORY msg + FILES + VelodynePacket.msg + VelodyneScan.msg +) +generate_messages(DEPENDENCIES std_msgs) + +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) diff --git a/src/velodyne/velodyne_msgs/mainpage.dox b/src/velodyne/velodyne_msgs/mainpage.dox new file mode 100644 index 0000000..f79cc87 --- /dev/null +++ b/src/velodyne/velodyne_msgs/mainpage.dox @@ -0,0 +1,10 @@ +/** +\mainpage +\htmlinclude manifest.html + +The @b velodyne_msgs package collects ROS messages specific to the +Velodyne HDL-64E 3D and HDL-64E S2 LIDARs. + +No other programming interfaces or ROS nodes are provided. + +*/ diff --git a/src/velodyne/velodyne_msgs/msg/VelodynePacket.msg b/src/velodyne/velodyne_msgs/msg/VelodynePacket.msg new file mode 100644 index 0000000..fcea273 --- /dev/null +++ b/src/velodyne/velodyne_msgs/msg/VelodynePacket.msg @@ -0,0 +1,5 @@ +# Raw Velodyne LIDAR packet. + +time stamp # packet timestamp +uint8[1206] data # packet contents + diff --git a/src/velodyne/velodyne_msgs/msg/VelodyneScan.msg b/src/velodyne/velodyne_msgs/msg/VelodyneScan.msg new file mode 100644 index 0000000..61cb8be --- /dev/null +++ b/src/velodyne/velodyne_msgs/msg/VelodyneScan.msg @@ -0,0 +1,4 @@ +# Velodyne LIDAR scan packets. + +Header header # standard ROS message header +VelodynePacket[] packets # vector of raw packets diff --git a/src/velodyne/velodyne_msgs/package.xml b/src/velodyne/velodyne_msgs/package.xml new file mode 100644 index 0000000..f585130 --- /dev/null +++ b/src/velodyne/velodyne_msgs/package.xml @@ -0,0 +1,23 @@ + + + velodyne_msgs + 1.6.1 + + ROS message definitions for Velodyne 3D LIDARs. + + Josh Whitley + Jack O'Quin + BSD + + http://ros.org/wiki/velodyne_msgs + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + + message_generation + + std_msgs + + message_runtime + diff --git a/src/velodyne/velodyne_pcl/CHANGELOG.rst b/src/velodyne/velodyne_pcl/CHANGELOG.rst new file mode 100644 index 0000000..6c4c260 --- /dev/null +++ b/src/velodyne/velodyne_pcl/CHANGELOG.rst @@ -0,0 +1,78 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_pcl +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.6.1 (2020-11-09) +------------------ +* Fix typo in velodyne_pcl/point_types.h (`#357 `_) + Fixes an issue where the POINT_CLOUD_REGISTER_POINT_STRUCT function was using the old PointXYZIR and not PointXYZIRT. +* Contributors: Matthew Hannay + +1.6.0 (2020-07-09) +------------------ +* Velodyne pcl (`#335 `_) + * fix time assignment in organized cloud container + * add velodyne_pcl package with point_types.h + * rename containers to cover the added time property + * Adding roslint to velodyne_pcl. (`#1 `_) + * Update CMake version to 3.5 + * Update package.xml to Format2 and package version to 1.5.2 + Co-authored-by: Joshua Whitley +* Contributors: Sebastian Pütz + +1.5.2 (2019-01-28) +------------------ + +1.5.1 (2018-12-10) +------------------ + +1.5.0 (2018-10-19) +------------------ + +1.4.0 (2018-09-19) +------------------ + +1.3.0 (2017-11-10) +------------------ +* remove velodyne_pcl from velodyne stack trunk +* make INFO message on every pointcloud a DEBUG message +* finished reorganization + splitting up of the nodes + changed velodyne/pcl_points2 topic name to velodyne/pointcloud +* reorganized the package, and renamed ExamplePublisher to Publisher +* run transform2 nodelet +* fixed issues in nodelets, equated nodes to match nodelets - there was some issue with using KdTree in the nodelet that I did not have time to debug - so it has been removed +* created example nodelets for the corresponding nodes +* some pretty printing + fixed subscriber to do euclidean cluster extraction using PCL +* fixed bugs in example code +* added a couple of examples using the pcl_ros bridge +* add waitForTransform() before transforming point cloud packet +* change convertPoints() to use PointCloud2ConstPtr for input +* add nodelet to assign colors to laser rings for visualization +* remove redundant typedefs +* add transform2 nodelet unit test +* add PCL transform to transform2 nodelet +* check in omitted nodelets.xml update +* create initial transform2 nodelet from cloud2 nodelet +* nodelet test now works, remove "broken" label +* set svn:keywords props to Id +* publish PointCloud2 for each scan in nodelet +* Prepare cloud2 nodelet for accumulating data for a whole scan (incomplete). + Add Velodyne::xyz_scans_t typedef. +* set Id property on test files +* add simple unit tests of node and nodelet publication + rates -- nodelet currently fails the test +* remove cerr printing, nodelet now runs +* fixed nodelets.xml so that nodelet is correctly visible +* use new point_types header in nodelet, too +* Add exported header file for custom Velodyne point types. + Use new velodyne::PointXYZIR custom point type in cloud2 node. + Print std::cerr message when nodelet methods entered (nothing shows). +* fixed issue with custom pcl point type in cloud2_nodelet +* library path correction +* small nodelet improvements +* Make Velodyne:: namespace references explicit. + Accumulate data using PointCloud instead of PointCloud2. + Delete some unnecessary cruft. +* comment out enough so nodelet will at least compile +* add nodelets.xml export +* experimental stack for PCL output +* Contributors: austinrobot, jack.oquin, piyushk diff --git a/src/velodyne/velodyne_pcl/CMakeLists.txt b/src/velodyne/velodyne_pcl/CMakeLists.txt new file mode 100644 index 0000000..8ad00a0 --- /dev/null +++ b/src/velodyne/velodyne_pcl/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.5) +project(velodyne_pcl) + +find_package(catkin REQUIRED COMPONENTS pcl_ros roslint) + +roslint_cpp() + +if(CATKIN_ENABLE_TESTING) + roslint_add_test() +endif() + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS pcl_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + diff --git a/src/velodyne/velodyne_pcl/README.md b/src/velodyne/velodyne_pcl/README.md new file mode 100644 index 0000000..18f14b4 --- /dev/null +++ b/src/velodyne/velodyne_pcl/README.md @@ -0,0 +1,32 @@ +## PointCloud2 to PCL PointCloud Conversion + +Convert `sensor_msgs::PointCloud2` objects coming from the velodyne_pointcloud driver to `pcl::PointCloud` objects. + +The `sensor_msgs::PointCloud2` ROS message is constructed by using the `PointcloudXYZIRT`, or the `OrganizedCloudXYZIRT` container. +Both define the following channels: + +* x - The x coord in Cartesian coordinates +* y - The y coord in Cartesian coordinates +* z - The z coord in Cartesian coordinates +* intensity - The measured intensity at the point +* ring - The ring number of the laser +* time - The time stamp of the measured point + +To convert a `sensor_msgs::PointCloud2` published by the velodyne driver to PCL you could use the following code: + +``` +#include +#include +#include +#include + +void cloud_callback(const boost::shared_ptr& cloud){ + + pcl::PCLPointCloud2 pcl_pointcloud2; + pcl_conversions::toPCL(*cloud, pcl_pointcloud2); + pcl::PointCloud::Ptr pcl_cloud_ptr(new pcl::PointCloud); + pcl::fromPCLPointCloud2(pcl_pointcloud2, *pcl_cloud_ptr); + + // use pcl_cloud_ptr +} +``` diff --git a/src/velodyne/velodyne_pcl/include/velodyne_pcl/point_types.h b/src/velodyne/velodyne_pcl/include/velodyne_pcl/point_types.h new file mode 100644 index 0000000..3201b03 --- /dev/null +++ b/src/velodyne/velodyne_pcl/include/velodyne_pcl/point_types.h @@ -0,0 +1,69 @@ +// Copyright (C) 2012 - 2020 Austin Robot Technology, Jesse Vera, Jack O'Quin, Piyush Khandelwal, Joshua Whitley, Sebastian Pütz // NOLINT +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** \file + * + * Point Cloud Library point structures for Velodyne data. + * + * @author Jesse Vera + * @author Jack O'Quin + * @author Piyush Khandelwal + * @author Sebastian Pütz + */ + +#ifndef VELODYNE_PCL_POINT_TYPES_H +#define VELODYNE_PCL_POINT_TYPES_H + +#include + +namespace velodyne_pcl +{ +struct PointXYZIRT +{ + PCL_ADD_POINT4D; // quad-word XYZ + float intensity; ///< laser intensity reading + std::uint16_t ring; ///< laser ring number + float time; ///< laser time reading + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // ensure proper alignment +} +EIGEN_ALIGN16; +} // namespace velodyne_pcl + +POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pcl::PointXYZIRT, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + (std::uint16_t, ring, ring) + (float, time, time)) + +#endif // VELODYNE_PCL_POINT_TYPES_H diff --git a/src/velodyne/velodyne_pcl/package.xml b/src/velodyne/velodyne_pcl/package.xml new file mode 100644 index 0000000..b8bd708 --- /dev/null +++ b/src/velodyne/velodyne_pcl/package.xml @@ -0,0 +1,20 @@ + + + velodyne_pcl + 1.6.1 + The velodyne_pcl package + + Josh Whitley + Sebastian Pütz + + BSD + + http://wiki.ros.org/velodyne_pcl + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + roslint + pcl_ros + + diff --git a/src/velodyne/velodyne_pointcloud/CHANGELOG.rst b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst new file mode 100644 index 0000000..58741ab --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/CHANGELOG.rst @@ -0,0 +1,361 @@ +Change history +============== + +1.6.1 (2020-11-09) +------------------ +* Add invalid points in organized cloud (`#360 `_) + * Set NaN in ordered point cloud in case of no return + * Adapt to current master + * consider min/max angle and timing_offsets also in organized mode + Co-authored-by: Nuernberg Thomas (CR/AEV4) +* build and export library data_containers so it can be used in other packages (`#359 `_) +* Contributors: Sebastian Scherer + +1.6.0 (2020-07-09) +------------------ +* Unify tf frame parameters between transform and cloud nodes (`#344 `_) + * Unify tf frame parameters between transform and cloud nodes + * Use more common ROS terminology instead of 'htm' + * Just use tf listener when necessary + * Migrate package to tf2 + * Explicitly store sensor frame in a dedicated variable to make code easier to read + * Avoid unnecessary transforms when sensor_frame == target_frame + Co-authored-by: anre +* Velodyne pcl (`#335 `_) + * fix time assignment in organized cloud container + * add velodyne_pcl package with point_types.h + * add README.md with infos for conversion + * rename containers to cover the added time property + * Update package.xml to Format2 and package version to 1.5.2 + Co-authored-by: Joshua Whitley +* Passing fixed_frame and target_frame to Convert object. (`#330 `_) +* Updating maintainer email address. +* Increase the max_range of the 32C launch file (`#323 `_) +* Getting model param for timings from private node handle. (`#318 `_) +* updated model to have a default of "" so that tests run successfully +* Move timing offsets functionality into class private. Also fix linter errors +* Added model param to each of the cloud nodelet starters +* Initial commit to timestamp each point using the timing spec in the manuals +* use correct node handles and node names for diagnostic_updater::Updater +* Added config option to timestamp a full scan based on first velo packet instead of last packet +* Remove a dead store from rawdata.cc. +* fix for `#267 `_, transform each packet +* Merge pull request `#250 `_ from zhixy/master + bug fix for row step +* Merge pull request `#253 `_ from ros-drivers/fix/fixed_frame_target_frame + Add configurable fixed_frame/target_frame for velodyne_pointcloud +* Merge pull request `#214 `_ from spuetz/feature/opc_nopcl + Container cleanup and organized pointclouds +* Merge pull request `#236 `_ from mpitropov/fix_transform_node_frame_bug + set correct output frame +* Merge pull request `#234 `_ from kmhallen/c++11 + Set minimum C++ standard to C++11 +* Merge pull request `#223 `_ from mpitropov/feat_Add_fixed_frame + Add fixed frame and use ros message time within transform node +* Made static tf publisher test adhere to REP 105 +* change more odom to map +* Merge pull request `#224 `_ from mpitropov/feat_add_diagnostics + Added diagnostic publishing +* Merge pull request `#222 `_ from mpitropov/feat_Use_GPS_time + Add flag to enable using GPS time from within the Velodyne packet instead of ROS time for scan. +* Created gps_time param to enable this feature +* Contributors: AndreasR30, Chris Lalancette, Daniel Seifert, Ian Colwell, Joshua Whitley, Kevin Hallenbeck, Matthew Pitropov, Sebastian, Sebastian Pütz, Shawn Hanna, zhixiangyang + +1.5.2 (2019-01-28) +------------------ +* Merge pull request `#205 `_ from xiesc/master + support for 64E-S3 +* add an example yaml file for S3 +* Contributors: Joshua Whitley, Shichao XIE, xiesc + +1.5.1 (2018-12-10) +------------------ +* Merge pull request `#194 `_ from ros-drivers/avoid_unnecessary_computation + Avoid unnecessary computation - causes approximately 20% performance increase on VLP-32C - should be similar for other sensors +* std::vector<>::reserve is your friend +* add static to avoid frequence memory allocation +* avoid unecesary calculations in unpack() +* Contributors: Davide Faconti, Joshua Whitley + +1.5.0 (2018-10-19) +------------------ +* Merge pull request `#164 `_ from ros-drivers/maint/vlp_32c_support + Adding VLP-32C support. + This was tested by AutonomouStuff and several external users. Though it does not include new information that I've learned (it appears that the distance resolution is different <50m vs >=50m), it is a good start. +* Merge pull request `#189 `_ from kveretennicov/patch-1 +* Fix malformed plugin description XML + ROS pluginlib only recognizes multiple elements if they are under + XML root. It silently ignores malformed XMLs with multiple + "root"s and just reads the first one, due to relaxed way tinyxml2 does + parsing. Though if you do `rosrun nodelet declared_nodelets`, the issue is + reported properly. + See also similar issue in https://github.com/ros-perception/perception_pcl/issues/131 +* Adding distance_resolution to test yaml files. +* Adding VLP-32C support. + Based on work done by @rockcdr. Adds distance_resolution calibration + value to support 0.004m distance resolution for VLP-32C. +* Contributors: Joshua Whitley, Konstantin Veretennicov + +1.4.0 (2018-09-19) +------------------ +* Merge pull request `#178 `_ from sts-thm/bugfix_issue\_`#174 `_ + Bugfix issue `#174 `_ +* Merge pull request `#177 `_ from C-NR/feature/WrapPointcloudData + Feature/wrap pointcloud data +* Changes fixing deadlock for specific cut_angle values. +* moved definition of VPoint and VPointCloud back to namespace rawdata in rawdata.h +* put a wrapper around pointcloud data including a generic setter method to enable the use of arbitrary data structures (pcl pointcloud, depth image, octomaps and so on) to be filled by just using RawData::unpack method with the wrapper object as parameter +* Merge pull request `#170 `_ from ros-drivers/maint/move_header_files + Moving header files to traditional location inside include folders. +* Merge pull request `#160 `_ from ros-drivers/maint/updating_package_xml_to_v2 +* Updated all package.xmls to ver 2. Cleaned up catkin_lint errors. + All package.xml files are now compatible with version 2 of the + package.xml specification in REP 140. Removed some unnecessary + execute permissions on a few files. Fixed a missing test_depend. +* Merge pull request `#136 `_ from stsundermann/patch-1 + Use std::abs instead of abs +* Adding missing 32C configuration file. +* Merge pull request `#139 `_ from ASDeveloper00/vlp32 + Adding support for VLP-32C. +* Merge pull request `#138 `_ from volkandre/cut_at_specified_angle_feature + Cut at specified angle feature +* Updated default cut_angle parameters in launch files after switching from deg to rad. +* Use std::abs instead of abs + abs is the c version which returns an integer. This is probably not intended here, so use the templated std::abs function. +* Contributors: Andre Volk, Autonomoustuff Developer, CNR, Joshua Whitley, Kyle Rector, Stephan Sundermann, Tobias Athmer, kennouni + +1.3.0 (2017-11-10) +------------------- +* Merge pull request `#110 `_ from kmhallen/master + Added velodyne_laserscan package +* Merge remote-tracking branch ros-drivers/master +* Merge pull request `#129 `_ from kmhallen/pluginlib_macro + Modern pluginlib macro +* Update to use non deprecated pluginlib macro +* Merge pull request `#127 `_ from swri-robotics/add_vlp16_hires_support + Add VLP16 Puck Hi-Res config file +* Add VLP16 Puck Hi-Res support +* velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (`#93 `_) + This eliminates a CMake warning when building on Xenial. +* Merge pull request `#111 `_ from OrebroUniversity/master + Added an interface to set up raw data processing offline +* Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master +* Added velodyne_laserscan package and inserted into existing launch files +* test multiple nodelet manager support (`#108 `_) +* add launch args to support multiple devices (`#108 `_) +* Merge pull request `#105 `_ from fudger/patch-1 + Remove unused constants. +* Merge pull request `#104 `_ from altrouge/launch_options + Add more options in launch files. +* Rearranged alphabetically. +* Remove unused constants. + DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. + Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range. +* Merge pull request `#103 `_ from fudger/patch-1 + Fix misleading typecasts. +* Add more options in launch files. + - rpm, device_ip, port, read_once, read_fast, repeat_delay +* Fix misleading typecasts. + intensity and VPoint::intensity are both of type float. +* update change history +* merge current master (`#94 `_) +* Merge pull request `#92 `_ from adasta/master + GCC Build Warnings +* Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning + that last_azimuth_diff variable may be used uninitialized. Variable + is now initialized to 0 at creation. + velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: ‘last_azimuth_diff’ may be used uninitialized in this function [-Werror=maybe-uninitialized] + azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION); +* Modified velodyne_pointcloud/src/conversion/colors.cc to remove + address build warning for strict-aliasing. + velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58: +* Merge pull request `#89 `_ from Tones29/feat_dynrec_driver + Add dynamic latency configuration to velodyne_driver +* velodyne_pointcloud: Fix compile warning "Wrong initialization order" +* velodyne_pointcloud: add dynamic reconfig update to change log (`#78 `_) +* Merge branch fudger-reconfigure_transform_node +* velodyne_pointcloud: use recommended add_dependencies() CMake variable `#78 `_ +* velodyne_pointcloud: fix transform unit tests + Use tf2_ros static_transform_publisher for more consistent timing (`#2 `_) +* Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne +* prepare change history for coming Indigo release (`#59 `_) +* calibration: unit test case improvements (`#84 `_) +* calibration: read all intensities as float, then convert (`#84 `_) +* calibration: add gtest for `#84 `_ + This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml. +* calibration: make max_intensity and min_intensity optional (`#84 `_) + This fixes a regression in the 32e and VLP-16 calibrations which do not contain + intensity values. There is still a problem with the 64e_s2.1 calibration. +* Merge pull request `#76 `_ from pomerlef/master + Sign inversion in some equations +* Merge pull request `#82 `_ from ros-drivers/fix_pr_80 + Fix pr 80; adding travis CI tests. +* fix the yaml-cpp 0.5 code paths +* Merge pull request `#80 `_ from ros-drivers/fix_yaml_import + allow floats in min/max_intensity and make horiz_offset_correction optional +* allow horiz_offset_correction to be optional with 0 as default +* allow floats instead of ints in min/max_intensity +* Resolve frame ID name using tf prefix. +* Improve coding style. +* Set up dynamic reconfiguration for transform_node. + Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. + Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to. +* Merge pull request `#77 `_ from fudger/pretty_print + Fix output of calibration data onto console +* Add a missing space. +* Fix line that always indicates use of model VLP-16. +* Align console output of calibration data. +* Merge branch master of https://github.com/ros-drivers/velodyne +* resolve sign error +* Merge pull request `#73 `_ from fudger/master + Correct important data type error for VLP-16 +* Fix data type error that distorts the point cloud. +* Fix and add a few comments. +* Merge pull request `#68 `_ from jlblancoc/patch-1 + Remove unused variable +* Remove unused variable + I think that `dsr` was unused. See line 317: + for (int dsr=0; ... +* VLP-16: skip badly formatted data packets (`#62 `_, `#63 `_) +* restore VLP-16 min_range setting to 0.4 (`#60 `_) + NOTE: There is still some other problem keeping that from working. +* permit min_range settings below 0.9 meters (`#60 `_) + No known models are currently known to return closer measurements. +* Merge pull request `#55 `_ from lemiant/azimuth_bug_VLP16 + Fixed azimuth overflow bug. +* Fixed azimuth overflow bug. + For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) + yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, + since they only go form 0..35999 +* Merge pull request `#51 `_ from kunlileo/master + Added vertical sin angle correction +* Added vertical sin angle correction +* Merge pull request `#47 `_ from prclibo/master + fixed rounding bug in intensity calculation found by songshiyu +* fixed rounding bug in intensity calculation found by songshiyu +* fix some overly long C++ source lines +* Merge pull request `#44 `_ from SISegwayRmp/master + adding driver and pointcloud support for the VLP16 +* missed the space in the file name which caused the build to fail, removed space before extension +* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap +* adding support for the VLP16 +* Merge pull request `#43 `_ from prclibo/fix_rawdata + fixed point computation according to the 64e_s2(.1) velodyne manual +* fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei"s help +* Merge pull request `#41 `_ from prclibo/master + fixed a calibration file parsing bug +* Merge pull request `#42 `_ from prclibo/fix_gen_calibration + fixed gen_calibration min/max intensity type +* fixed gen_calibration min/max intensity type +* fixed a calibration file parsing bug +* Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef + +1.2.0 (2014-08-06) +------------------ + +* velodyne_pointcloud: remove model-dependent "constants" from + rawdata.h (`#28 + `_) +* velodyne_pointcloud: change default min_range to 0.9 meters (`#25 + `_) +* Added support for YAML-CPP 0.5+ (`#23 + `_). +* Add dynamic_reconfigure feature. +* Add angular limits to the output point cloud, useful for omitting + part of it. (`#22 `_). +* Contributors: Jack OQuin, Scott K Logan, Thomas Solatges + +1.1.2 (2013-11-05) +------------------ + + * Move unit test data to download.ros.org (`#18`_). + * Install missing gen_calibration.py script (`#20`_). + +1.1.1 (2013-07-30) +------------------ + + * Fix lost frame_id transform problem caused by PCL 1.7 fix (`#13`_). + * Add support for HDL-64E S2 and S2.1 models, which were not working + before (`#11`_), thanks to Gabor Meszaros (`#12`_). + * Add additional parameters to launch files (`#14`_). + * Contributors: Gabor Meszaros, Jack OQuin + +1.1.0 (2013-07-16) +------------------ + + * Fix build problems due to PCL 1.7 API incompatibilities (`#8`_), + thanks to William Woodall. This version also works with Groovy, as + long as the correct ``pcl_conversions`` is installed. + * Fix errors with Mac OSX compiler (`#8`_). + * Install ``pluginlib`` XML files (`#9`_). + * Install some launch and parameter files. + * Enable unit tests when ``CATKIN_ENABLE_TESTING`` is set (`#10`_). + +1.0.1 (2013-06-15) +------------------ + + * Declare explicit ``pluginlib`` dependency (`#4`_). + +1.0.0 (2013-06-14) +------------------ + + * Convert to catkin (`#1`_). + * Release to Hydro. + +0.9.2 (2013-07-08) +------------------ + + * Fix Groovy build problem (`#7`_). + +0.9.1 (2012-06-05) +------------------ + + * Only include "enabled" lasers in YAML calibration file. + * New param subdirectory for parameter files. + * Add launch file for the HDL-32E. + * Add rviz_points.vcg file for viewing Velodyne point clouds with rviz. + * Fix bug when reading configuration with default minIntensity. + * Add unit tests with 32E data. + * Released to Electric, Fuerte and Groovy. + +0.9.0 (2012-04-03) +------------------ + + * Completely revised API, anticipating a 1.0.0 release. + * HDL-32E device support. + * New YAML configuration file format. + * New velodyne_driver and velodyne_pointcloud packages. + * Old velodyne_common and velodyne_pcl packages no longer included. + * Released to Electric, Fuerte and Groovy. + +0.2.6 (2011-02-23) +------------------ + + * Label all timing-dependent tests "realtime" so they do not run by + default on the build farm machines. + +0.2.5 (2010-11-19) +------------------ + + * Initial implementation of new 0.3 interfaces. + * Support for ROS 1.3 `std_msgs::Header` changes. + +0.2.0 (2010-08-17) +------------------ + + * Initial release to ROS C-turtle. + +.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1 +.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4 +.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7 +.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8 +.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9 +.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10 +.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11 +.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12 +.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13 +.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14 +.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17 +.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18 +.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20 +.. _`#50`: https://github.com/ros-drivers/velodyne/issue/50 diff --git a/src/velodyne/velodyne_pointcloud/CMakeLists.txt b/src/velodyne/velodyne_pointcloud/CMakeLists.txt new file mode 100644 index 0000000..0868430 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/CMakeLists.txt @@ -0,0 +1,86 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_pointcloud) + +# Set minimum C++ standard to C++11 +if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98") + message(STATUS "Changing CXX_STANDARD from C++98 to C++11") + set(CMAKE_CXX_STANDARD 11) +endif() + +set(${PROJECT_NAME}_CATKIN_DEPS + angles + nodelet + roscpp + roslib + sensor_msgs + tf2_ros + velodyne_driver + velodyne_msgs + dynamic_reconfigure + diagnostic_updater +) + +find_package(catkin REQUIRED COMPONENTS + ${${PROJECT_NAME}_CATKIN_DEPS} + roslint) + +find_package(Boost COMPONENTS signals) +find_package(Eigen3 REQUIRED) +# Resolve system dependency on yaml-cpp, which apparently does not +# provide a CMake find_package() module. +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) +find_path(YAML_CPP_INCLUDE_DIR + NAMES yaml_cpp.h + PATHS ${YAML_CPP_INCLUDE_DIRS}) +find_library(YAML_CPP_LIBRARY + NAMES YAML_CPP + PATHS ${YAML_CPP_LIBRARY_DIRS}) + +link_directories(${YAML_CPP_LIBRARY_DIRS}) + +generate_dynamic_reconfigure_options( + cfg/TransformNode.cfg +) + +if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") + add_definitions(-DHAVE_NEW_YAMLCPP) +endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") + +include_directories(include ${catkin_INCLUDE_DIRS} + ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake + ${EIGEN3_INCLUDE_DIR} +) + +catkin_package( + CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS} + INCLUDE_DIRS include + LIBRARIES velodyne_rawdata data_containers) + +#add_executable(dynamic_reconfigure_node src/dynamic_reconfigure_node.cpp) +#target_link_libraries(dynamic_reconfigure_node +# ${catkin_LIBRARIES} +# ) + +add_subdirectory(src/lib) +add_subdirectory(src/conversions) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +install(FILES nodelets.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) +install(DIRECTORY params/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params) +install(PROGRAMS scripts/gen_calibration.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +roslint_cpp() + +if (CATKIN_ENABLE_TESTING) + add_subdirectory(tests) +endif() diff --git a/src/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg b/src/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg new file mode 100755 index 0000000..7afe2e2 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg @@ -0,0 +1,51 @@ +#!/usr/bin/env python +PACKAGE = "velodyne_pointcloud" + +from math import pi +import dynamic_reconfigure.parameter_generator_catkin as pgc + +gen = pgc.ParameterGenerator() + +gen.add("min_range", + pgc.double_t, + 0, + "min range to publish", + 0.9, 0.1, 10.0) + +gen.add("max_range", + pgc.double_t, + 0, + "max range to publish", + 130, 0.1, 200) + +gen.add("view_direction", + pgc.double_t, + 0, + "angle defining the center of view", + 0.0, -pi, pi) + +gen.add("view_width", + pgc.double_t, + 0, + "angle defining the view width", + 2*pi, 0.0, 2*pi) + +gen.add("fixed_frame", + pgc.str_t, + 0, + "world fixed frame used for ego motion compensation (leave empty if no ego motion compensation is required)", + "") + +gen.add("target_frame", + pgc.str_t, + 0, + "output frame of the final PointCloud2 msg (leave empty to use the frame specified in the original scan msg)", + "") + +gen.add("organize_cloud", + pgc.bool_t, + 0, + "organize cloud", + False) + +exit(gen.generate(PACKAGE, "transform_node", "TransformNode")) diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h new file mode 100644 index 0000000..c6030d5 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h @@ -0,0 +1,109 @@ +// Copyright (C) 2012, 2019 Austin Robot Technology, Piyush Khandelwal, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_POINTCLOUD_CALIBRATION_H +#define VELODYNE_POINTCLOUD_CALIBRATION_H + +#include +#include +#include + +namespace velodyne_pointcloud +{ + +/** \brief correction values for a single laser + * + * Correction values for a single laser (as provided by db.xml from + * Velodyne). Includes parameters for Velodyne HDL-64E S2.1. + * + * http://velodynelidar.com/lidar/products/manual/63-HDL64E%20S2%20Manual_Rev%20D_2011_web.pdf + */ + +/** \brief Correction information for a single laser. */ +struct LaserCorrection +{ + /** parameters in db.xml */ + float rot_correction; + float vert_correction; + float dist_correction; + bool two_pt_correction_available; + float dist_correction_x; + float dist_correction_y; + float vert_offset_correction; + float horiz_offset_correction; + int max_intensity; + int min_intensity; + float focal_distance; + float focal_slope; + + /** cached values calculated when the calibration file is read */ + float cos_rot_correction; ///< cosine of rot_correction + float sin_rot_correction; ///< sine of rot_correction + float cos_vert_correction; ///< cosine of vert_correction + float sin_vert_correction; ///< sine of vert_correction + + int laser_ring; ///< ring number for this laser +}; + +/** \brief Calibration information for the entire device. */ +class Calibration +{ +public: + float distance_resolution_m; + std::map laser_corrections_map; + std::vector laser_corrections; + int num_lasers; + bool initialized; + bool ros_info; + +public: + explicit Calibration(bool info = true) + : distance_resolution_m(0.002f), + num_lasers(0), + initialized(false), + ros_info(info) {} + explicit Calibration( + const std::string& calibration_file, + bool info = true) + : distance_resolution_m(0.002f), + ros_info(info) + { + read(calibration_file); + } + + void read(const std::string& calibration_file); + void write(const std::string& calibration_file); +}; + +} // namespace velodyne_pointcloud + +#endif // VELODYNE_POINTCLOUD_CALIBRATION_H diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/datacontainerbase.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/datacontainerbase.h new file mode 100644 index 0000000..66b30bd --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/datacontainerbase.h @@ -0,0 +1,274 @@ +#ifndef VELODYNE_POINTCLOUD_DATACONTAINERBASE_H +#define VELODYNE_POINTCLOUD_DATACONTAINERBASE_H +// Copyright (C) 2012, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley, Sebastian Pütz +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace velodyne_rawdata +{ +class DataContainerBase +{ +public: + DataContainerBase(const double max_range, const double min_range, const std::string& target_frame, + const std::string& fixed_frame, const unsigned int init_width, const unsigned int init_height, + const bool is_dense, const unsigned int scans_per_packet, int fields, ...) + : config_(max_range, min_range, target_frame, fixed_frame, init_width, init_height, is_dense, scans_per_packet) + { + va_list vl; + cloud.fields.clear(); + cloud.fields.reserve(fields); + va_start(vl, fields); + int offset = 0; + for (int i = 0; i < fields; ++i) + { + // Create the corresponding PointField + std::string name(va_arg(vl, char*)); + int count(va_arg(vl, int)); + int datatype(va_arg(vl, int)); + offset = addPointField(cloud, name, count, datatype, offset); + } + va_end(vl); + cloud.point_step = offset; + cloud.row_step = init_width * cloud.point_step; + } + + struct Config + { + double max_range; ///< maximum range to publish + double min_range; ///< minimum range to publish + std::string target_frame; ///< output frame of final point cloud + std::string fixed_frame; ///< world fixed frame for ego motion compenstation + unsigned int init_width; + unsigned int init_height; + bool is_dense; + unsigned int scans_per_packet; + + Config(double max_range, double min_range, std::string target_frame, std::string fixed_frame, + unsigned int init_width, unsigned int init_height, bool is_dense, unsigned int scans_per_packet) + : max_range(max_range) + , min_range(min_range) + , target_frame(target_frame) + , fixed_frame(fixed_frame) + , init_width(init_width) + , init_height(init_height) + , is_dense(is_dense) + , scans_per_packet(scans_per_packet) + { + ROS_INFO_STREAM("Initialized container with " + << "min_range: " << min_range << ", max_range: " << max_range + << ", target_frame: " << target_frame << ", fixed_frame: " << fixed_frame + << ", init_width: " << init_width << ", init_height: " << init_height + << ", is_dense: " << is_dense << ", scans_per_packet: " << scans_per_packet); + } + }; + + virtual void setup(const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg) + { + sensor_frame = scan_msg->header.frame_id; + manage_tf_buffer(); + + cloud.header.stamp = scan_msg->header.stamp; + cloud.data.resize(scan_msg->packets.size() * config_.scans_per_packet * cloud.point_step); + cloud.width = config_.init_width; + cloud.height = config_.init_height; + cloud.is_dense = static_cast(config_.is_dense); + } + + virtual void addPoint(float x, float y, float z, const uint16_t ring, const uint16_t azimuth, const float distance, + const float intensity, const float time) = 0; + virtual void newLine() = 0; + + const sensor_msgs::PointCloud2& finishCloud() + { + cloud.data.resize(cloud.point_step * cloud.width * cloud.height); + cloud.row_step = cloud.point_step * cloud.width; + + if (!config_.target_frame.empty()) + { + cloud.header.frame_id = config_.target_frame; + } + else if (!config_.fixed_frame.empty()) + { + cloud.header.frame_id = config_.fixed_frame; + } + else + { + cloud.header.frame_id = sensor_frame; + } + + ROS_DEBUG_STREAM("Prepared cloud width" << cloud.height * cloud.width + << " Velodyne points, time: " << cloud.header.stamp); + return cloud; + } + + void manage_tf_buffer() + { + // check if sensor frame is already known, if not don't prepare tf buffer until setup was called + if (sensor_frame.empty()) + { + return; + } + + // avoid doing transformation when sensor_frame equals target frame and no ego motion compensation is perfomed + if (config_.fixed_frame.empty() && sensor_frame == config_.target_frame) + { + // when the string is empty the points will not be transformed later on + config_.target_frame = ""; + return; + } + + // only use somewhat resource intensive tf listener when transformations are necessary + if (!config_.fixed_frame.empty() || !config_.target_frame.empty()) + { + if (!tf_buffer) + { + tf_buffer = std::make_shared(); + tf_listener = std::make_shared(*tf_buffer); + } + } + else + { + tf_listener.reset(); + tf_buffer.reset(); + } + } + + void configure(const double max_range, const double min_range, const std::string fixed_frame, + const std::string target_frame) + { + config_.max_range = max_range; + config_.min_range = min_range; + config_.fixed_frame = fixed_frame; + config_.target_frame = target_frame; + + manage_tf_buffer(); + } + + sensor_msgs::PointCloud2 cloud; + + inline bool calculateTransformMatrix(Eigen::Affine3f& matrix, const std::string& target_frame, + const std::string& source_frame, const ros::Time& time) + { + if (!tf_buffer) + { + ROS_ERROR("tf buffer was not initialized yet"); + return false; + } + + geometry_msgs::TransformStamped msg; + try + { + msg = tf_buffer->lookupTransform(target_frame, source_frame, time, ros::Duration(0.2)); + } + catch (tf2::LookupException& e) + { + ROS_ERROR("%s", e.what()); + return false; + } + catch (tf2::ExtrapolationException& e) + { + ROS_ERROR("%s", e.what()); + return false; + } + + const geometry_msgs::Quaternion& quaternion = msg.transform.rotation; + Eigen::Quaternionf rotation(quaternion.w, quaternion.x, quaternion.y, quaternion.z); + + const geometry_msgs::Vector3& origin = msg.transform.translation; + Eigen::Translation3f translation(origin.x, origin.y, origin.z); + + matrix = translation * rotation; + return true; + } + + inline bool computeTransformToTarget(const ros::Time &scan_time) + { + if (config_.target_frame.empty()) + { + // no need to calculate transform -> success + return true; + } + std::string& source_frame = config_.fixed_frame.empty() ? sensor_frame : config_.fixed_frame; + return calculateTransformMatrix(tf_matrix_to_target, config_.target_frame, source_frame, scan_time); + } + + inline bool computeTransformToFixed(const ros::Time &packet_time) + { + if (config_.fixed_frame.empty()) + { + // no need to calculate transform -> success + return true; + } + std::string &source_frame = sensor_frame; + return calculateTransformMatrix(tf_matrix_to_fixed, config_.fixed_frame, source_frame, packet_time); + } + + inline void transformPoint(float& x, float& y, float& z) + { + Eigen::Vector3f p = Eigen::Vector3f(x, y, z); + if (!config_.fixed_frame.empty()) + { + p = tf_matrix_to_fixed * p; + } + if (!config_.target_frame.empty()) + { + p = tf_matrix_to_target * p; + } + x = p.x(); + y = p.y(); + z = p.z(); + } + + inline bool pointInRange(float range) + { + return (range >= config_.min_range && range <= config_.max_range); + } + +protected: + Config config_; + std::shared_ptr tf_listener; + std::shared_ptr tf_buffer; + Eigen::Affine3f tf_matrix_to_fixed; + Eigen::Affine3f tf_matrix_to_target; + std::string sensor_frame; +}; +} /* namespace velodyne_rawdata */ +#endif // VELODYNE_POINTCLOUD_DATACONTAINERBASE_H diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/organized_cloudXYZIRT.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/organized_cloudXYZIRT.h new file mode 100644 index 0000000..1b6c3de --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/organized_cloudXYZIRT.h @@ -0,0 +1,61 @@ +// Copyright (C) 2012, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley, Sebastian Pütz +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_POINTCLOUD_ORGANIZED_CLOUDXYZIRT_H +#define VELODYNE_POINTCLOUD_ORGANIZED_CLOUDXYZIRT_H + +#include +#include +#include + +namespace velodyne_pointcloud +{ +class OrganizedCloudXYZIRT : public velodyne_rawdata::DataContainerBase +{ +public: + OrganizedCloudXYZIRT(const double max_range, const double min_range, const std::string& target_frame, + const std::string& fixed_frame, const unsigned int num_lasers, + const unsigned int scans_per_block); + + virtual void newLine(); + + virtual void setup(const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg); + + virtual void addPoint(float x, float y, float z, const uint16_t ring, const uint16_t azimuth, const float distance, + const float intensity, const float time); + +private: + sensor_msgs::PointCloud2Iterator iter_x, iter_y, iter_z, iter_intensity, iter_time; + sensor_msgs::PointCloud2Iterator iter_ring; +}; +} /* namespace velodyne_pointcloud */ +#endif // VELODYNE_POINTCLOUD_ORGANIZED_CLOUDXYZIRT_H diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/pointcloudXYZIRT.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/pointcloudXYZIRT.h new file mode 100644 index 0000000..357c22e --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/pointcloudXYZIRT.h @@ -0,0 +1,59 @@ +// Copyright (C) 2012, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley, Sebastian Pütz +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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 VELODYNE_POINTCLOUD_POINTCLOUDXYZIRT_H +#define VELODYNE_POINTCLOUD_POINTCLOUDXYZIRT_H + +#include +#include + +namespace velodyne_pointcloud +{ +class PointcloudXYZIRT : public velodyne_rawdata::DataContainerBase +{ +public: + PointcloudXYZIRT(const double max_range, const double min_range, const std::string& target_frame, + const std::string& fixed_frame, const unsigned int scans_per_block); + + virtual void newLine(); + + virtual void setup(const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg); + + virtual void addPoint(float x, float y, float z, const uint16_t ring, const uint16_t azimuth, + const float distance, const float intensity, const float time); + + sensor_msgs::PointCloud2Iterator iter_x, iter_y, iter_z, iter_intensity, iter_time; + sensor_msgs::PointCloud2Iterator iter_ring; +}; +} // namespace velodyne_pointcloud + +#endif // VELODYNE_POINTCLOUD_POINTCLOUDXYZIRT_H diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h new file mode 100644 index 0000000..76b4262 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h @@ -0,0 +1,248 @@ +// Copyright (C) 2007, 2009, 2010, 2012, 2019 Yaxin Liu, Patrick Beeson, Jack O'Quin, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** @file + * + * @brief Interfaces for interpreting raw packets from the Velodyne 3D LIDAR. + * + * @author Yaxin Liu + * @author Patrick Beeson + * @author Jack O'Quin + */ + +#ifndef VELODYNE_POINTCLOUD_RAWDATA_H +#define VELODYNE_POINTCLOUD_RAWDATA_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace velodyne_rawdata +{ +/** + * Raw Velodyne packet constants and structures. + */ +static const int SIZE_BLOCK = 100; +static const int RAW_SCAN_SIZE = 3; +static const int SCANS_PER_BLOCK = 32; +static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE); + +static const float ROTATION_RESOLUTION = 0.01f; // [deg] +static const uint16_t ROTATION_MAX_UNITS = 36000u; // [deg/100] + +/** @todo make this work for both big and little-endian machines */ +static const uint16_t UPPER_BANK = 0xeeff; +static const uint16_t LOWER_BANK = 0xddff; + +/** Special Defines for VLP16 support **/ +static const int VLP16_FIRINGS_PER_BLOCK = 2; +static const int VLP16_SCANS_PER_FIRING = 16; +static const float VLP16_BLOCK_TDURATION = 110.592f; // [µs] +static const float VLP16_DSR_TOFFSET = 2.304f; // [µs] +static const float VLP16_FIRING_TOFFSET = 55.296f; // [µs] + +/** \brief Raw Velodyne data block. + * + * Each block contains data from either the upper or lower laser + * bank. The device returns three times as many upper bank blocks. + * + * use stdint.h types, so things work with both 64 and 32-bit machines + */ +typedef struct raw_block +{ + uint16_t header; ///< UPPER_BANK or LOWER_BANK + uint16_t rotation; ///< 0-35999, divide by 100 to get degrees + uint8_t data[BLOCK_DATA_SIZE]; +} +raw_block_t; + +/** used for unpacking the first two data bytes in a block + * + * They are packed into the actual data stream misaligned. I doubt + * this works on big endian machines. + */ +union two_bytes +{ + uint16_t uint; + uint8_t bytes[2]; +}; + +static const int PACKET_SIZE = 1206; +static const int BLOCKS_PER_PACKET = 12; +static const int PACKET_STATUS_SIZE = 4; +static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET); + +/** Special Definitions for VLS128 support **/ +// These are used to detect which bank of 32 lasers is in this block +static const uint16_t VLS128_BANK_1 = 0xeeff; +static const uint16_t VLS128_BANK_2 = 0xddff; +static const uint16_t VLS128_BANK_3 = 0xccff; +static const uint16_t VLS128_BANK_4 = 0xbbff; + +static const float VLS128_CHANNEL_TDURATION = 2.665f; // [µs] Channels corresponds to one laser firing +static const float VLS128_SEQ_TDURATION = 53.3f; // [µs] Sequence is a set of laser firings including recharging +static const float VLS128_TOH_ADJUSTMENT = 8.7f; // [µs] μs. Top Of the Hour is aligned with the fourth firing group in a firing sequence. +static const float VLS128_DISTANCE_RESOLUTION= 0.004f; // [m] +static const float VLS128_MODEL_ID= 161; + + + +/** \brief Raw Velodyne packet. + * + * revolution is described in the device manual as incrementing + * (mod 65536) for each physical turn of the device. Our device + * seems to alternate between two different values every third + * packet. One value increases, the other decreases. + * + * \todo figure out if revolution is only present for one of the + * two types of status fields + * + * status has either a temperature encoding or the microcode level + */ +typedef struct raw_packet +{ + raw_block_t blocks[BLOCKS_PER_PACKET]; + uint16_t revolution; + uint8_t status[PACKET_STATUS_SIZE]; +} +raw_packet_t; + +/** \brief Velodyne data conversion class */ +class RawData +{ +public: + RawData(); + ~RawData() + { + } + + /** \brief Set up for data processing. + * + * Perform initializations needed before data processing can + * begin: + * + * - read device-specific angles calibration + * + * @param private_nh private node handle for ROS parameters + * @returns an optional calibration + */ + boost::optional setup(ros::NodeHandle private_nh); + + + void setupSinCosCache(); + void setupAzimuthCache(); + bool loadCalibration(); + + /** \brief Set up for data processing offline. + * Performs the same initialization as in setup, in the abscence of a ros::NodeHandle. + * this method is useful if unpacking data directly from bag files, without passing + * through a communication overhead. + * + * @param calibration_file path to the calibration file + * @param max_range_ cutoff for maximum range + * @param min_range_ cutoff for minimum range + * @returns 0 if successful; + * errno value for failure + */ + int setupOffline(std::string calibration_file, double max_range_, double min_range_); + + void unpack(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data, + const ros::Time& scan_start_time); + + void setParameters(double min_range, double max_range, double view_direction, double view_width); + + int scansPerPacket() const; + +private: + /** configuration parameters */ + typedef struct + { + std::string model; + std::string calibrationFile; ///< calibration file name + double max_range; ///< maximum range to publish + double min_range; ///< minimum range to publish + int min_angle; ///< minimum angle to publish + int max_angle; ///< maximum angle to publish + + double tmp_min_angle; + double tmp_max_angle; + } + Config; + Config config_; + + /** + * Calibration file + */ + velodyne_pointcloud::Calibration calibration_; + float sin_rot_table_[ROTATION_MAX_UNITS]; + float cos_rot_table_[ROTATION_MAX_UNITS]; + + // Caches the azimuth percent offset for the VLS-128 laser firings + float vls_128_laser_azimuth_cache[16]; + + // timing offset lookup table + std::vector< std::vector > timing_offsets; + + /** \brief setup per-point timing offsets + * + * Runs during initialization and determines the firing time for each point in the scan + * + * NOTE: Does not support all sensors yet (vlp16, vlp32, and hdl32 are currently supported) + */ + bool buildTimings(); + + /** add private function to handle the VLP16 **/ + void unpack_vlp16(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data, + const ros::Time& scan_start_time); + + void unpack_vls128(const velodyne_msgs::VelodynePacket &pkt, DataContainerBase& data, + const ros::Time& scan_start_time); + + /** in-line test whether a point is in range */ + inline bool pointInRange(float range) + { + return (range >= config_.min_range + && range <= config_.max_range); + } +}; + +} // namespace velodyne_rawdata + +#endif // VELODYNE_POINTCLOUD_RAWDATA_H diff --git a/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/transform.h b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/transform.h new file mode 100644 index 0000000..cfd83ee --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/transform.h @@ -0,0 +1,109 @@ +// Copyright (C) 2009, 2010, 2011, 2012, 2019 Austin Robot Technology, Jack O'Quin, Jesse Vera, Joshua Whitley, +// Sebastian Pütz All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +/** @file + + This class transforms raw Velodyne 3D LIDAR packets to PointCloud2 + in the /map frame of reference. + +*/ + +#ifndef VELODYNE_POINTCLOUD_TRANSFORM_H +#define VELODYNE_POINTCLOUD_TRANSFORM_H + +#include +#include +#include "tf/message_filter.h" +#include "message_filters/subscriber.h" +#include +#include +#include + +#include +#include + +#include +#include + +namespace velodyne_pointcloud +{ +using TransformNodeCfg = velodyne_pointcloud::TransformNodeConfig; + +class Transform +{ +public: + Transform( + ros::NodeHandle node, + ros::NodeHandle private_nh, + std::string const & node_name = ros::this_node::getName()); + ~Transform() + { + } + +private: + void processScan(const velodyne_msgs::VelodyneScan::ConstPtr& scanMsg); + + // Pointer to dynamic reconfigure service srv_ + boost::shared_ptr> srv_; + void reconfigure_callback(velodyne_pointcloud::TransformNodeConfig& config, uint32_t level); + + boost::shared_ptr data_; + ros::Subscriber velodyne_scan_; + ros::Publisher output_; + + /// configuration parameters + typedef struct + { + std::string target_frame; ///< target frame + std::string fixed_frame; ///< fixed frame + bool organize_cloud; ///< enable/disable organized cloud structure + double max_range; ///< maximum range to publish + double min_range; ///< minimum range to publish + uint16_t num_lasers; ///< number of lasers + } + Config; + Config config_; + + bool first_rcfg_call; + + boost::shared_ptr container_ptr; + + // diagnostics updater + diagnostic_updater::Updater diagnostics_; + double diag_min_freq_; + double diag_max_freq_; + boost::shared_ptr diag_topic_; + boost::mutex reconfigure_mtx_; +}; +} // namespace velodyne_pointcloud + +#endif // VELODYNE_POINTCLOUD_TRANSFORM_H diff --git a/src/velodyne/velodyne_pointcloud/launch/32e_points.launch b/src/velodyne/velodyne_pointcloud/launch/32e_points.launch new file mode 100755 index 0000000..9449f10 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/32e_points.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/64e_S3.launch b/src/velodyne/velodyne_pointcloud/launch/64e_S3.launch new file mode 100755 index 0000000..c3c6774 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/64e_S3.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch b/src/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch new file mode 100755 index 0000000..5043db7 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/VLP16_points.launch b/src/velodyne/velodyne_pointcloud/launch/VLP16_points.launch new file mode 100755 index 0000000..6346376 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/VLP16_points.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/VLS128_points.launch b/src/velodyne/velodyne_pointcloud/launch/VLS128_points.launch new file mode 100644 index 0000000..da49ef7 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/VLS128_points.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch b/src/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch new file mode 100755 index 0000000..7c5be24 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch b/src/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch new file mode 100755 index 0000000..5d8bc37 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/mainpage.dox b/src/velodyne/velodyne_pointcloud/mainpage.dox new file mode 100644 index 0000000..7e1d763 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/mainpage.dox @@ -0,0 +1,8 @@ +/** +\mainpage +\htmlinclude manifest.html + +Nodes and nodelets for converting raw Velodyne 3D LIDAR data to point +clouds. + +*/ diff --git a/src/velodyne/velodyne_pointcloud/nodelets.xml b/src/velodyne/velodyne_pointcloud/nodelets.xml new file mode 100644 index 0000000..5494f88 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/nodelets.xml @@ -0,0 +1,25 @@ + + + + + + Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors + for visualization of the laser rings. + + + + + + + + Transforms packets into /map frame, publishing multiple packets + as PointCloud2. + + + + + diff --git a/src/velodyne/velodyne_pointcloud/package.xml b/src/velodyne/velodyne_pointcloud/package.xml new file mode 100644 index 0000000..639e00a --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/package.xml @@ -0,0 +1,45 @@ + + + velodyne_pointcloud + 1.6.1 + + Point cloud conversions for Velodyne 3D LIDARs. + + Josh Whitley + Jack O'Quin + Piyush Khandelwal + Jesse Vera + Sebastian Pütz + BSD + http://ros.org/wiki/velodyne_pointcloud + https://github.com/ros-drivers/velodyne + https://github.com/ros-drivers/velodyne/issues + + catkin + + roslint + + angles + nodelet + roscpp + roslib + sensor_msgs + tf2_ros + velodyne_driver + velodyne_msgs + yaml-cpp + dynamic_reconfigure + diagnostic_updater + eigen + + velodyne_laserscan + + rosunit + roslaunch + rostest + tf2_ros + + + + + diff --git a/src/velodyne/velodyne_pointcloud/params/32db.yaml b/src/velodyne/velodyne_pointcloud/params/32db.yaml new file mode 100644 index 0000000..c48c56b --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/32db.yaml @@ -0,0 +1,100 @@ +# standard Velodyne HDL-32E calibration parameters +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, + vert_correction: -0.5352924815866609, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, + vert_correction: -0.1628392174657417, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, + vert_correction: -0.5119050696099369, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, + vert_correction: -0.13962634015954636, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, + vert_correction: -0.4886921905584123, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, + vert_correction: -0.11641346285335104, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, + vert_correction: -0.4654793115068877, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, + vert_correction: -0.09302604738596851, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, + vert_correction: -0.44209189953016365, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, + vert_correction: -0.06981317007977318, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, + vert_correction: -0.4188790204786391, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, + vert_correction: -0.046600292773577856, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, + vert_correction: -0.39566614142711454, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, + vert_correction: -0.023212879051524585, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, + vert_correction: -0.3722787294503905, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, + vert_correction: 0.0, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, rot_correction: 0.0, + vert_correction: -0.3490658503988659, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, rot_correction: 0.0, + vert_correction: 0.023212879051524585, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, rot_correction: 0.0, + vert_correction: -0.32585297134734137, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, rot_correction: 0.0, + vert_correction: 0.046600292773577856, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, rot_correction: 0.0, + vert_correction: -0.30246555937061725, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, rot_correction: 0.0, + vert_correction: 0.06981317007977318, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, rot_correction: 0.0, + vert_correction: -0.2792526803190927, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, rot_correction: 0.0, + vert_correction: 0.09302604738596851, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, rot_correction: 0.0, + vert_correction: -0.25603980126756815, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, rot_correction: 0.0, + vert_correction: 0.11641346285335104, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, rot_correction: 0.0, + vert_correction: -0.23265238929084414, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, rot_correction: 0.0, + vert_correction: 0.13962634015954636, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, rot_correction: 0.0, + vert_correction: -0.20943951023931956, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, rot_correction: 0.0, + vert_correction: 0.1628392174657417, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, rot_correction: 0.0, + vert_correction: -0.18622663118779495, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, rot_correction: 0.0, + vert_correction: 0.18622663118779495, vert_offset_correction: 0.0} +num_lasers: 32 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml b/src/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml new file mode 100644 index 0000000..9f584ed --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml @@ -0,0 +1,246 @@ +lasers: +- {dist_correction: 1.5195264000000002, dist_correction_x: 1.5500304, dist_correction_y: 1.5231381, + focal_distance: 12.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 0, + max_intensity: 235.0, min_intensity: 30.0, rot_correction: -0.1248942899601548, + vert_correction: -0.15304134919741974, vert_offset_correction: 0.19548199} +- {dist_correction: 1.5145139, dist_correction_x: 1.5256960000000002, dist_correction_y: 1.5491043, + focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 1, + min_intensity: 40.0, rot_correction: -0.06924466398252106, vert_correction: -0.1458455539136526, + vert_offset_correction: 0.19601112} +- {dist_correction: 1.4963768, dist_correction_x: 1.5571011, dist_correction_y: 1.5456782999999998, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 2, min_intensity: 60.0, rot_correction: 0.0824016906676694, vert_correction: 0.04339494149708345, + vert_offset_correction: 0.20969539999999998} +- {dist_correction: 1.3771207, dist_correction_x: 1.4103835, dist_correction_y: 1.4343457000000002, + focal_distance: 9.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 3, + min_intensity: 20.0, rot_correction: 0.137808349360133, vert_correction: 0.05196082373432465, + vert_offset_correction: 0.21031273} +- {dist_correction: 1.2947885, dist_correction_x: 1.3720455999999999, dist_correction_y: 1.4025244000000001, + focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 4, + min_intensity: 50.0, rot_correction: -0.011199603626188263, vert_correction: -0.1358262679404349, + vert_offset_correction: 0.19674603999999998} +- {dist_correction: 1.4395787000000002, dist_correction_x: 1.4801956, dist_correction_y: 1.5074649, + focal_distance: 7.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 5, + min_intensity: 30.0, rot_correction: 0.045795414990398894, vert_correction: -0.12678532627942263, + vert_offset_correction: 0.19740747} +- {dist_correction: 1.3618773, dist_correction_x: 1.4004077000000001, dist_correction_y: 1.3900876, + focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 6, + min_intensity: 65.0, rot_correction: -0.031646046452444135, vert_correction: -0.1895564226946273, + vert_offset_correction: 0.19277746} +- {dist_correction: 1.5325716, dist_correction_x: 1.5337143, dist_correction_y: 1.5452948000000002, + focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 7, + min_intensity: 10.0, rot_correction: 0.023408326257150665, vert_correction: -0.18086723120040343, + vert_offset_correction: 0.19342419} +- {dist_correction: 1.3743323, dist_correction_x: 1.4474606, dist_correction_y: 1.4533472, + focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 8, + min_intensity: 30.0, rot_correction: 0.10065885915180103, vert_correction: -0.11973897655818674, + vert_offset_correction: 0.19792192} +- {dist_correction: 1.4969112000000002, dist_correction_x: 1.4754176, dist_correction_y: 1.4888799000000001, + focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 9, + min_intensity: 10.0, rot_correction: 0.15996423607269877, vert_correction: -0.10924820210484752, + vert_offset_correction: 0.19868624000000001} +- {dist_correction: 1.434263, dist_correction_x: 1.4957901000000002, dist_correction_y: 1.5191892999999999, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 10, min_intensity: 35.0, rot_correction: 0.08313316164783874, vert_correction: -0.17135657256846043, + vert_offset_correction: 0.19412970999999998} +- {dist_correction: 1.5500841, dist_correction_x: 1.542697, dist_correction_y: 1.5716737, + focal_distance: 8.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 11, + min_intensity: 30.0, rot_correction: 0.13862572370075624, vert_correction: -0.1630088948849621, + vert_offset_correction: 0.19474705} +- {dist_correction: 1.3725992, dist_correction_x: 1.4353555, dist_correction_y: 1.3932405, + focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 12, + min_intensity: 50.0, rot_correction: -0.1255805045528199, vert_correction: -0.04526314018308893, + vert_offset_correction: 0.20331627000000002} +- {dist_correction: 1.3111591000000002, dist_correction_x: 1.3470857, dist_correction_y: 1.3652054000000002, + focal_distance: 6.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999, + laser_id: 13, min_intensity: 30.0, rot_correction: -0.06716508498014805, vert_correction: -0.03587557613263058, + vert_offset_correction: 0.20399239000000002} +- {dist_correction: 1.5360803, dist_correction_x: 1.5528035, dist_correction_y: 1.5666801000000001, + focal_distance: 8.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 14, + min_intensity: 20.0, rot_correction: -0.14578889529014513, vert_correction: -0.09893566067472198, + vert_offset_correction: 0.19943586} +- {dist_correction: 1.4755448999999998, dist_correction_x: 1.5032428, dist_correction_y: 1.5326752, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 15, min_intensity: 30.0, rot_correction: -0.08892898296002069, vert_correction: -0.09062974348423608, + vert_offset_correction: 0.20003851} +- {dist_correction: 1.4410587000000001, dist_correction_x: 1.4870845, dist_correction_y: 1.4627965, + focal_distance: 18.0, focal_slope: 0.5, horiz_offset_correction: 0.025999999, laser_id: 16, + min_intensity: 40.0, rot_correction: -0.013006177528832626, vert_correction: -0.02770725895504266, + vert_offset_correction: 0.20458033} +- {dist_correction: 1.4434521, dist_correction_x: 1.4897508, dist_correction_y: 1.4791382, + focal_distance: 11.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, + laser_id: 17, min_intensity: 55.0, rot_correction: 0.04596628970548614, vert_correction: -0.02014825541794774, + vert_offset_correction: 0.20512417} +- {dist_correction: 1.3243448000000002, dist_correction_x: 1.3816666000000002, dist_correction_y: 1.3647719, + focal_distance: 12.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 18, + min_intensity: 10.0, rot_correction: -0.03237303019110658, vert_correction: -0.08210824496987311, + vert_offset_correction: 0.20065581999999998} +- {dist_correction: 1.4565853999999998, dist_correction_x: 1.4340645, dist_correction_y: 1.4550516, + focal_distance: 20.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999, + laser_id: 19, min_intensity: 30.0, rot_correction: 0.02431275238487562, vert_correction: -0.0727614640280461, + vert_offset_correction: 0.20133196000000003} +- {dist_correction: 1.3313776, dist_correction_x: 1.3819601000000001, dist_correction_y: 1.3847791, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 20, min_intensity: 45.0, rot_correction: 0.10029393174916004, vert_correction: -0.009929893699589059, + vert_offset_correction: 0.20585909000000002} +- {dist_correction: 1.3787535, dist_correction_x: 1.3978789, dist_correction_y: 1.4257806, + focal_distance: 10.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 21, + min_intensity: 35.0, rot_correction: 0.15867894419560363, vert_correction: -0.0037977317325845416, + vert_offset_correction: 0.20630005} +- {dist_correction: 1.3419412, dist_correction_x: 1.4059189, dist_correction_y: 1.4113303, + focal_distance: 11.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 22, + min_intensity: 40.0, rot_correction: 0.08044522544540282, vert_correction: -0.06482699129962814, + vert_offset_correction: 0.20190518999999998} +- {dist_correction: 1.4338304, dist_correction_x: 1.4212059, dist_correction_y: 1.4900565000000001, + focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 23, + min_intensity: 55.0, rot_correction: 0.13867708175932542, vert_correction: -0.05566171063737453, + vert_offset_correction: 0.20256662} +- {dist_correction: 1.4930911, dist_correction_x: 1.5572188, dist_correction_y: 1.5182672, + focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 24, + min_intensity: 25.0, rot_correction: -0.12505298227706313, vert_correction: 0.06113007152996804, + vert_offset_correction: 0.21097416} +- {dist_correction: 1.4367653000000002, dist_correction_x: 1.4614236, dist_correction_y: 1.4587589, + focal_distance: 3.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 25, + min_intensity: 50.0, rot_correction: -0.06814826559971075, vert_correction: 0.06988221181432357, + vert_offset_correction: 0.21160620000000002} +- {dist_correction: 1.5279892000000002, dist_correction_x: 1.5686107999999999, dist_correction_y: 1.55737, + focal_distance: 7.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 26, + min_intensity: 30.0, rot_correction: -0.14531660046790917, vert_correction: 0.00887576771486082, + vert_offset_correction: 0.20721134} +- {dist_correction: 1.5077638, dist_correction_x: 1.5453738000000001, dist_correction_y: 1.5483368, + focal_distance: 4.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 27, min_intensity: 30.0, rot_correction: -0.08904354811745085, vert_correction: 0.017050959569839413, + vert_offset_correction: 0.20779928000000003} +- {dist_correction: 1.3627797000000001, dist_correction_x: 1.4232985, dist_correction_y: 1.4116524000000001, + focal_distance: 4.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 28, + min_intensity: 50.0, rot_correction: -0.012061568860271928, vert_correction: 0.07842048992411524, + vert_offset_correction: 0.21222351} +- {dist_correction: 1.3749608, dist_correction_x: 1.4045798, dist_correction_y: 1.4006630999999998, + focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 29, + min_intensity: 40.0, rot_correction: 0.043892943273872005, vert_correction: 0.08674443287511571, + vert_offset_correction: 0.21282616000000001} +- {dist_correction: 1.2940709000000001, dist_correction_x: 1.392794, dist_correction_y: 1.3225565000000001, + focal_distance: 8.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 30, min_intensity: 90.0, rot_correction: -0.033068739374902546, vert_correction: 0.02522388232225749, + vert_offset_correction: 0.20838722} +- {dist_correction: 1.3907666, dist_correction_x: 1.4365166, dist_correction_y: 1.4501437000000001, + focal_distance: 9.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 31, + min_intensity: 5.0, rot_correction: 0.025535290948715324, vert_correction: 0.034414332377654115, + vert_offset_correction: 0.20904865} +- {dist_correction: 1.3461819, dist_correction_x: 1.3678523000000002, dist_correction_y: 1.3552880999999999, + focal_distance: 11.0, focal_slope: 1.5, horiz_offset_correction: 0.025999999, laser_id: 32, + min_intensity: 45.0, rot_correction: -0.13309965698710405, vert_correction: -0.39666389380060213, + vert_offset_correction: 0.10812234999999999} +- {dist_correction: 1.2487466, dist_correction_x: 1.2929747, dist_correction_y: 1.3438803, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 33, min_intensity: 35.0, rot_correction: -0.07241159183553281, vert_correction: -0.39021216204755743, + vert_offset_correction: 0.10859233} +- {dist_correction: 1.5016498000000003, dist_correction_x: 1.5384890999999998, dist_correction_y: 1.5506186, + focal_distance: 4.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 34, + min_intensity: 20.0, rot_correction: 0.08292710807634829, vert_correction: -0.2010672181773803, + vert_offset_correction: 0.12148494} +- {dist_correction: 1.2495708, dist_correction_x: 1.2891127, dist_correction_y: 1.2943669, + focal_distance: 11.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 35, + min_intensity: 25.0, rot_correction: 0.14006506182829093, vert_correction: -0.19103771853737994, + vert_offset_correction: 0.12213274} +- {dist_correction: 1.2674536, dist_correction_x: 1.3298663, dist_correction_y: 1.3577469, + focal_distance: 6.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 36, min_intensity: 35.0, rot_correction: -0.012004346320883118, vert_correction: -0.3819670695815035, + vert_offset_correction: 0.10918932} +- {dist_correction: 1.2481956, dist_correction_x: 1.28627, dist_correction_y: 1.29235, + focal_distance: 14.5, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 37, + min_intensity: 30.0, rot_correction: 0.04832190474636683, vert_correction: -0.3718940414299584, + vert_offset_correction: 0.10991334} +- {dist_correction: 1.4516722, dist_correction_x: 1.4842308, dist_correction_y: 1.4868384000000001, + focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38, + min_intensity: 55.0, rot_correction: -0.03583078923869515, vert_correction: -0.4336284663746853, + vert_offset_correction: 0.1053787} +- {dist_correction: 1.3843003999999999, dist_correction_x: 1.4010727, dist_correction_y: 1.4332015999999999, + focal_distance: 6.5, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 39, + min_intensity: 40.0, rot_correction: 0.026883486237381612, vert_correction: -0.4261966798867682, + vert_offset_correction: 0.10593759000000001} +- {dist_correction: 1.244738, dist_correction_x: 1.3131859000000001, dist_correction_y: 1.354245, + focal_distance: 6.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 40, + min_intensity: 25.0, rot_correction: 0.1076316048478218, vert_correction: -0.3640637439139335, + vert_offset_correction: 0.11047223} +- {dist_correction: 1.3284543, dist_correction_x: 1.3295518000000002, dist_correction_y: 1.3809489, + focal_distance: 12.5, focal_slope: 1.7, horiz_offset_correction: -0.025999999, laser_id: 41, + min_intensity: 50.0, rot_correction: 0.1679293847080498, vert_correction: -0.3511493721000192, + vert_offset_correction: 0.11138678} +- {dist_correction: 1.4055542, dist_correction_x: 1.4426663, dist_correction_y: 1.430847, + focal_distance: 1.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 42, + min_intensity: 10.0, rot_correction: 0.0861156692854385, vert_correction: -0.4163231777753111, + vert_offset_correction: 0.10667431000000001} +- {dist_correction: 1.3529747, dist_correction_x: 1.3834917999999998, dist_correction_y: 1.4029074, + focal_distance: 6.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 43, + min_intensity: 35.0, rot_correction: 0.15024020221305323, vert_correction: -0.4046365927302973, + vert_offset_correction: 0.10753805} +- {dist_correction: 1.2407380000000001, dist_correction_x: 1.3171521000000002, dist_correction_y: 1.2836400000000001, + focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 44, + max_intensity: 220.0, rot_correction: -0.12998527227122358, vert_correction: -0.28892197890806653, + vert_offset_correction: 0.11568009} +- {dist_correction: 1.5288051999999999, dist_correction_x: 1.5904514, dist_correction_y: 1.6288455, + focal_distance: 10.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 45, rot_correction: -0.07009281894983248, vert_correction: -0.28120381879648226, + vert_offset_correction: 0.11620087} +- {dist_correction: 1.5423979, dist_correction_x: 1.5919412, dist_correction_y: 1.610177, + focal_distance: 13.0, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 46, + rot_correction: -0.1533711640661691, vert_correction: -0.34156398894148127, vert_offset_correction: 0.11205999} +- {dist_correction: 1.3086252999999999, dist_correction_x: 1.3737134, dist_correction_y: 1.4177727, + focal_distance: 5.5, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 47, rot_correction: -0.0927890927600715, vert_correction: -0.3348332488542128, + vert_offset_correction: 0.11252997} +- {dist_correction: 1.3405330000000002, dist_correction_x: 1.4512436, dist_correction_y: 1.4471467999999998, + focal_distance: 13.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 48, + rot_correction: -0.012004348415278218, vert_correction: -0.2738300470529015, vert_offset_correction: 0.11669625} +- {dist_correction: 1.2994545, dist_correction_x: 1.3971343999999999, dist_correction_y: 1.36849, + focal_distance: 14.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 49, + rot_correction: 0.047471358677980184, vert_correction: -0.2649030020882158, vert_offset_correction: 0.11729325} +- {dist_correction: 1.4499762999999999, dist_correction_x: 1.5111346, dist_correction_y: 1.542395, + focal_distance: 13.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 50, + rot_correction: -0.03378136079915033, vert_correction: -0.32678797913421975, vert_offset_correction: 0.11308886} +- {dist_correction: 1.3516956, dist_correction_x: 1.4231836999999998, dist_correction_y: 1.4301146, + focal_distance: 13.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 51, + rot_correction: 0.025334358173250228, vert_correction: -0.3179609589889659, vert_offset_correction: 0.11369856} +- {dist_correction: 1.2374236, dist_correction_x: 1.308008, dist_correction_y: 1.3549429000000002, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, + laser_id: 52, rot_correction: 0.10481975724981128, vert_correction: -0.25478428121685354, + vert_offset_correction: 0.11796646000000001} +- {dist_correction: 1.3730562000000002, dist_correction_x: 1.403678, dist_correction_y: 1.4347415000000001, + focal_distance: 13.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 53, + rot_correction: 0.16311715242247551, vert_correction: -0.24576616497179882, vert_offset_correction: 0.11856346000000001} +- {dist_correction: 1.4445888, dist_correction_x: 1.5025624, dist_correction_y: 1.5189749000000001, + focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 54, + rot_correction: 0.08384971878954978, vert_correction: -0.31000962288931516, vert_offset_correction: 0.11424474999999999} +- {dist_correction: 1.3861449, dist_correction_x: 1.4228815000000001, dist_correction_y: 1.4620186000000002, + focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: -0.025999999, laser_id: 55, + rot_correction: 0.14374613400834294, vert_correction: -0.2986601307360315, vert_offset_correction: 0.11501958000000001} +- {dist_correction: 1.4635341, dist_correction_x: 1.5232283000000002, dist_correction_y: 1.5063837000000002, + focal_distance: 13.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 56, + rot_correction: -0.12741928396895377, vert_correction: -0.18393445537456576, vert_offset_correction: 0.12259002000000001} +- {dist_correction: 1.3715826000000002, dist_correction_x: 1.4186972, dist_correction_y: 1.4328435, + focal_distance: 3.5, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 57, + rot_correction: -0.06853129555735342, vert_correction: -0.1744342722087932, vert_offset_correction: 0.12319972} +- {dist_correction: 1.4644831999999999, dist_correction_x: 1.5095984000000002, dist_correction_y: 1.5149265, + focal_distance: 11.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 58, + rot_correction: -0.1497316045423758, vert_correction: -0.23400086557751998, vert_offset_correction: 0.11933828} +- {dist_correction: 1.3074548, dist_correction_x: 1.3521214000000001, dist_correction_y: 1.3830151000000002, + focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 59, rot_correction: -0.08973572126418226, vert_correction: -0.22644383426247983, + vert_offset_correction: 0.11983367} +- {dist_correction: 1.4378391, dist_correction_x: 1.4799687000000001, dist_correction_y: 1.4889211, + focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 60, + rot_correction: -0.011751946229237658, vert_correction: -0.1678843098347878, vert_offset_correction: 0.12361888} +- {dist_correction: 1.3585466, dist_correction_x: 1.4135242, dist_correction_y: 1.4170488, + focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 61, rot_correction: 0.04489272721060892, vert_correction: -0.158331168143522, + vert_offset_correction: 0.12422858} +- {dist_correction: 1.4478067, dist_correction_x: 1.5442529, dist_correction_y: 1.5512207, + focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 62, + rot_correction: -0.0340408982402389, vert_correction: -0.21671681763514258, vert_offset_correction: 0.12046877} +- {dist_correction: 1.4329738, dist_correction_x: 1.4817114, dist_correction_y: 1.4954124, + focal_distance: 9.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, + laser_id: 63, rot_correction: 0.024857907722065305, vert_correction: -0.2106649408137298, + vert_offset_correction: 0.12086253} +num_lasers: 64 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/64e_s3-xiesc.yaml b/src/velodyne/velodyne_pointcloud/params/64e_s3-xiesc.yaml new file mode 100755 index 0000000..089e277 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/64e_s3-xiesc.yaml @@ -0,0 +1,227 @@ +lasers: +- {dist_correction: 1.4139490000000001, dist_correction_x: 1.4198446999999998, dist_correction_y: 1.4058145, + focal_distance: 10.5, focal_slope: 1.85, horiz_offset_correction: 0.025999999, laser_id: 0, + min_intensity: 5, rot_correction: -0.07648247457737148, vert_correction: -0.1261818455292898, + vert_offset_correction: 0.21569468} +- {dist_correction: 1.5094685, dist_correction_x: 1.5403023, dist_correction_y: 1.5012577999999999, + focal_distance: 15.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 1, + min_intensity: 10, rot_correction: -0.03932070772308096, vert_correction: -0.11953745909742221, + vert_offset_correction: 0.21520962000000002} +- {dist_correction: 1.4579400999999999, dist_correction_x: 1.4846666, dist_correction_y: 1.4228239, + focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 2, + min_intensity: 30, rot_correction: 0.06005350008746038, vert_correction: 0.00356118725906175, + vert_offset_correction: 0.20631704} +- {dist_correction: 1.5046124, dist_correction_x: 1.5335535999999999, dist_correction_y: 1.5401996, + focal_distance: 14.5, focal_slope: 1.7, horiz_offset_correction: -0.025999999, laser_id: 3, + min_intensity: 10, rot_correction: 0.09919490315516696, vert_correction: 0.010306535403103584, + vert_offset_correction: 0.20583200000000001} +- {dist_correction: 1.4370993, dist_correction_x: 1.4714845, dist_correction_y: 1.4524646, + focal_distance: 15.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999, + laser_id: 4, min_intensity: 30, rot_correction: -0.00095355016485159, vert_correction: -0.1144967440141401, + vert_offset_correction: 0.21484217000000003} +- {dist_correction: 1.3536626999999999, dist_correction_x: 1.3909094, dist_correction_y: 1.3700326999999999, + focal_distance: 17.0, focal_slope: 1.45, horiz_offset_correction: -0.025999999, + laser_id: 5, min_intensity: 30, rot_correction: 0.03824387099052699, vert_correction: -0.10803612329921503, + vert_offset_correction: 0.21437181} +- {dist_correction: 1.4117873, dist_correction_x: 1.4350795, dist_correction_y: 1.3829624999999999, + focal_distance: 10.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 6, + min_intensity: 10, rot_correction: -0.015297255529962315, vert_correction: -0.14944538101702426, + vert_offset_correction: 0.21739968999999998} +- {dist_correction: 1.4269646, dist_correction_x: 1.451161, dist_correction_y: 1.4328421, + focal_distance: 14.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 7, + min_intensity: 10, rot_correction: 0.024255809272700053, vert_correction: -0.14344353231329066, + vert_offset_correction: 0.21695873} +- {dist_correction: 1.3808284000000002, dist_correction_x: 1.421472, dist_correction_y: 1.3838283000000002, + focal_distance: 15.0, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999, + laser_id: 8, min_intensity: 30, rot_correction: 0.07354442571180776, vert_correction: -0.10278016723125998, + vert_offset_correction: 0.21398966000000003} +- {dist_correction: 1.3644336000000001, dist_correction_x: 1.3931616, dist_correction_y: 1.3852122, + focal_distance: 12.5, focal_slope: 1.95, horiz_offset_correction: -0.025999999, + laser_id: 9, min_intensity: 10, rot_correction: 0.11317857886058363, vert_correction: -0.09569590023202451, + vert_offset_correction: 0.21347521} +- {dist_correction: 1.4102663000000002, dist_correction_x: 1.4163402, dist_correction_y: 1.3592377, + focal_distance: 12.5, focal_slope: 1.95, horiz_offset_correction: 0.025999999, laser_id: 10, + min_intensity: 10, rot_correction: 0.05954228616823424, vert_correction: -0.1386345201601863, + vert_offset_correction: 0.21660597} +- {dist_correction: 1.5019737000000002, dist_correction_x: 1.532475, dist_correction_y: 1.5237663000000001, + focal_distance: 13.0, focal_slope: 1.9, horiz_offset_correction: -0.025999999, laser_id: 11, + min_intensity: 10, rot_correction: 0.09906092120980835, vert_correction: -0.13181073657049397, + vert_offset_correction: 0.21610622} +- {dist_correction: 1.4399905000000002, dist_correction_x: 1.4887962, dist_correction_y: 1.4455237, + focal_distance: 14.5, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 12, + max_intensity: 235, rot_correction: -0.07574798243226695, vert_correction: -0.054438932963427306, + vert_offset_correction: 0.21049141} +- {dist_correction: 1.5207593, dist_correction_x: 1.5401453, dist_correction_y: 1.5190082, + focal_distance: 20.5, focal_slope: 1.25, horiz_offset_correction: -0.025999999, + laser_id: 13, max_intensity: 240, rot_correction: -0.037047761947550245, vert_correction: -0.048730533448148504, + vert_offset_correction: 0.21007986} +- {dist_correction: 1.4746239, dist_correction_x: 1.5300989999999999, dist_correction_y: 1.4663734, + focal_distance: 12.5, focal_slope: 1.9, horiz_offset_correction: 0.025999999, laser_id: 14, + max_intensity: 245, rot_correction: -0.0895955468906376, vert_correction: -0.08961595328025192, + vert_offset_correction: 0.21303425} +- {dist_correction: 1.4697629, dist_correction_x: 1.5051735, dist_correction_y: 1.4558601, + focal_distance: 19.5, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999, + laser_id: 15, max_intensity: 245, rot_correction: -0.05072966149865084, vert_correction: -0.0839353306800186, + vert_offset_correction: 0.21262267999999998} +- {dist_correction: 1.4143376, dist_correction_x: 1.4432597000000003, dist_correction_y: 1.4038483, + focal_distance: 24.0, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999, + laser_id: 16, max_intensity: 245, rot_correction: -0.001864320564407547, vert_correction: -0.043427018903405855, + vert_offset_correction: 0.20969770000000001} +- {dist_correction: 1.4815961, dist_correction_x: 1.5173615, dist_correction_y: 1.4871606, + focal_distance: 14.5, focal_slope: 1.65, horiz_offset_correction: -0.025999999, + laser_id: 17, rot_correction: 0.03747852840556422, vert_correction: -0.03648801216715539, + vert_offset_correction: 0.20919794} +- {dist_correction: 1.420331, dist_correction_x: 1.4755219, dist_correction_y: 1.3919118000000001, + focal_distance: 17.5, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 18, + rot_correction: -0.015194972429011364, vert_correction: -0.07906187922560139, vert_offset_correction: 0.21226994000000002} +- {dist_correction: 1.4900717, dist_correction_x: 1.5143349000000002, dist_correction_y: 1.4829907, + focal_distance: 24.0, focal_slope: 1.25, horiz_offset_correction: -0.025999999, + laser_id: 19, rot_correction: 0.02391977928648433, vert_correction: -0.07255814015150577, + vert_offset_correction: 0.21179958} +- {dist_correction: 1.4823865, dist_correction_x: 1.5357741999999999, dist_correction_y: 1.4956403, + focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20, + rot_correction: 0.07264374331532833, vert_correction: -0.031587736747464255, vert_offset_correction: 0.20884519999999998} +- {dist_correction: 1.5553201, dist_correction_x: 1.5698593, dist_correction_y: 1.5624425, + focal_distance: 15.5, focal_slope: 1.55, horiz_offset_correction: -0.025999999, + laser_id: 21, rot_correction: 0.11143265968730214, vert_correction: -0.025460288914769372, + vert_offset_correction: 0.20840424} +- {dist_correction: 1.4437845999999999, dist_correction_x: 1.4909378000000002, dist_correction_y: 1.4347861, + focal_distance: 20.5, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 22, + rot_correction: 0.05942554283989759, vert_correction: -0.06665878416276627, vert_offset_correction: 0.21137333000000003} +- {dist_correction: 1.4939513, dist_correction_x: 1.5194868, dist_correction_y: 1.5106346, + focal_distance: 14.5, focal_slope: 1.65, horiz_offset_correction: -0.025999999, + laser_id: 23, rot_correction: 0.09797042203986979, vert_correction: -0.06055112836378901, + vert_offset_correction: 0.21093236999999998} +- {dist_correction: 1.4521244999999998, dist_correction_x: 1.4884882, dist_correction_y: 1.4649333, + focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 24, + rot_correction: -0.07658879305408597, vert_correction: 0.015620435355027301, vert_offset_correction: 0.20544985000000002} +- {dist_correction: 1.5351622, dist_correction_x: 1.524973, dist_correction_y: 1.5029565, + focal_distance: 18.5, focal_slope: 1.25, horiz_offset_correction: -0.025999999, + laser_id: 25, rot_correction: -0.0379098725675606, vert_correction: 0.022567997346205196, + vert_offset_correction: 0.20495010000000002} +- {dist_correction: 1.5321327, dist_correction_x: 1.5833431999999998, dist_correction_y: 1.5359726, + focal_distance: 13.0, focal_slope: 1.9, horiz_offset_correction: 0.025999999, laser_id: 26, + rot_correction: -0.0904730670226138, vert_correction: -0.019943931467746017, vert_offset_correction: 0.20800737000000002} +- {dist_correction: 1.5166023000000002, dist_correction_x: 1.4874829, dist_correction_y: 1.4625635, + focal_distance: 21.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 27, + rot_correction: -0.051308328902808065, vert_correction: -0.013200099491225388, vert_offset_correction: 0.20752234000000003} +- {dist_correction: 1.4549194, dist_correction_x: 1.4688664, dist_correction_y: 1.4194371000000001, + focal_distance: 13.5, focal_slope: 1.83, horiz_offset_correction: 0.025999999, laser_id: 28, + rot_correction: -0.0019143155208309244, vert_correction: 0.027266617424120905, vert_offset_correction: 0.20461203000000003} +- {dist_correction: 1.5617532, dist_correction_x: 1.5887217999999999, dist_correction_y: 1.5643922000000001, + focal_distance: 18.5, focal_slope: 1.35, horiz_offset_correction: -0.025999999, + laser_id: 29, rot_correction: 0.03681404490741569, vert_correction: 0.03421014630846329, + vert_offset_correction: 0.20411228} +- {dist_correction: 1.5132924, dist_correction_x: 1.5661812000000002, dist_correction_y: 1.5102689, + focal_distance: 18.5, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 30, + rot_correction: -0.015542064486559148, vert_correction: -0.007885903531460533, vert_offset_correction: 0.20714018} +- {dist_correction: 1.5638524, dist_correction_x: 1.5621136000000002, dist_correction_y: 1.5383017, + focal_distance: 21.5, focal_slope: 1.15, horiz_offset_correction: -0.025999999, + laser_id: 31, rot_correction: 0.023284423588222334, vert_correction: -0.0015491891506552067, + vert_offset_correction: 0.20668451000000002} +- {dist_correction: 1.3077792, dist_correction_x: 1.3433452, dist_correction_y: 1.2840973, + focal_distance: 10.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 32, + rot_correction: -0.1278634161583795, vert_correction: -0.39021216204755743, vert_offset_correction: 0.15970787} +- {dist_correction: 1.4303885, dist_correction_x: 1.4429931999999999, dist_correction_y: 1.4607234, + focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 33, + rot_correction: -0.066528586091226, vert_correction: -0.38355018793281753, vert_offset_correction: 0.15922519} +- {dist_correction: 1.3746819, dist_correction_x: 1.3873923, dist_correction_y: 1.4089924999999999, + focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 34, + rot_correction: 0.08854290740283328, vert_correction: -0.197138848550284, vert_offset_correction: 0.14656122} +- {dist_correction: 1.3814778, dist_correction_x: 1.3932765, dist_correction_y: 1.4301869, + focal_distance: 11.0, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 35, + rot_correction: 0.14547956884148489, vert_correction: -0.18768579625563228, vert_offset_correction: 0.14595152} +- {dist_correction: 1.4313307, dist_correction_x: 1.4734517, dist_correction_y: 1.4390849000000001, + focal_distance: 9.5, focal_slope: 1.85, horiz_offset_correction: 0.025999999, laser_id: 36, + rot_correction: -0.005071588212420635, vert_correction: -0.3750836655445631, vert_offset_correction: 0.15861549} +- {dist_correction: 1.3414835, dist_correction_x: 1.3820609, dist_correction_y: 1.355589, + focal_distance: 9.5, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 37, + rot_correction: 0.05427589303135225, vert_correction: -0.36762882325722723, vert_offset_correction: 0.15808201} +- {dist_correction: 1.4895827, dist_correction_x: 1.5283238000000001, dist_correction_y: 1.4803529, + focal_distance: 9.0, focal_slope: 1.65, horiz_offset_correction: 0.025999999, laser_id: 38, + rot_correction: -0.028143856558087547, vert_correction: -0.4285668719175616, vert_offset_correction: 0.16254044} +- {dist_correction: 1.3727733000000002, dist_correction_x: 1.3623596, dist_correction_y: 1.392661, + focal_distance: 0.25, focal_slope: 1.15, horiz_offset_correction: -0.025999999, + laser_id: 39, rot_correction: 0.03172272051181349, vert_correction: -0.4214410765541042, + vert_offset_correction: 0.16200695} +- {dist_correction: 1.4348983999999998, dist_correction_x: 1.4775407000000003, dist_correction_y: 1.4712174999999998, + focal_distance: 0.25, focal_slope: 0.92000002, horiz_offset_correction: 0.025999999, + laser_id: 40, rot_correction: 0.11411698480351568, vert_correction: -0.3565455112681652, + vert_offset_correction: 0.15729448} +- {dist_correction: 1.335618, dist_correction_x: 1.3519691, dist_correction_y: 1.3315152000000001, + focal_distance: 11.200000000000001, focal_slope: 2.0, horiz_offset_correction: -0.025999999, + laser_id: 41, rot_correction: 0.1735498527902839, vert_correction: -0.34717860842539194, + vert_offset_correction: 0.15663397} +- {dist_correction: 1.4905824, dist_correction_x: 1.488313, dist_correction_y: 1.4948479000000001, + focal_distance: 0.25, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 42, + rot_correction: 0.09564756333839054, vert_correction: -0.4110102035460227, vert_offset_correction: 0.16123213} +- {dist_correction: 1.3288423, dist_correction_x: 1.3409723, dist_correction_y: 1.3440451, + focal_distance: 10.0, focal_slope: 1.95, horiz_offset_correction: -0.025999999, + laser_id: 43, rot_correction: 0.15538288292189534, vert_correction: -0.40083030888437793, + vert_offset_correction: 0.16048269} +- {dist_correction: 1.3771290999999999, dist_correction_x: 1.3773239000000002, dist_correction_y: 1.3497290000000002, + focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 44, + rot_correction: -0.12413605610123538, vert_correction: -0.2840315837972709, vert_offset_correction: 0.15228986} +- {dist_correction: 1.3367807, dist_correction_x: 1.370152, dist_correction_y: 1.370934, + focal_distance: 0.25, focal_slope: 0.44999999, horiz_offset_correction: -0.025999999, + laser_id: 45, rot_correction: -0.06413447432303407, vert_correction: -0.27761533458791926, + vert_offset_correction: 0.15185799} +- {dist_correction: 1.4788651, dist_correction_x: 1.5014308, dist_correction_y: 1.4727454, + focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 46, + rot_correction: -0.14872602785785152, vert_correction: -0.3359268721635124, vert_offset_correction: 0.15584644} +- {dist_correction: 1.3220766000000002, dist_correction_x: 1.3654865, dist_correction_y: 1.3739757000000001, + focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999, + laser_id: 47, rot_correction: -0.08707280959256145, vert_correction: -0.33026751989087316, + vert_offset_correction: 0.15545268} +- {dist_correction: 1.4612433999999999, dist_correction_x: 1.5250436, dist_correction_y: 1.4817635999999998, + focal_distance: 13.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 48, + rot_correction: -0.006799911150716457, vert_correction: -0.26851710773019805, vert_offset_correction: 0.15124829} +- {dist_correction: 1.3407353000000002, dist_correction_x: 1.3478844, dist_correction_y: 1.3154279, + focal_distance: 13.5, focal_slope: 1.8, horiz_offset_correction: -0.025999999, laser_id: 49, + rot_correction: 0.05242808851765633, vert_correction: -0.26051854302098837, vert_offset_correction: 0.1507148} +- {dist_correction: 1.3465115, dist_correction_x: 1.3874431999999999, dist_correction_y: 1.3508052000000002, + focal_distance: 12.0, focal_slope: 1.85, horiz_offset_correction: 0.025999999, laser_id: 50, + rot_correction: -0.028383715411859876, vert_correction: -0.3216451745070007, vert_offset_correction: 0.15485568000000002} +- {dist_correction: 1.3629696999999998, dist_correction_x: 1.4037315000000001, dist_correction_y: 1.3869237, + focal_distance: 12.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 51, + rot_correction: 0.031843273893907245, vert_correction: -0.3135280670349956, vert_offset_correction: 0.15429679000000002} +- {dist_correction: 1.4472754, dist_correction_x: 1.4817390000000001, dist_correction_y: 1.4782272, + focal_distance: 2.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 52, + rot_correction: 0.10955275158734502, vert_correction: -0.24941678290173272, vert_offset_correction: 0.14997807999999999} +- {dist_correction: 1.3800671, dist_correction_x: 1.3796414, dist_correction_y: 1.3943782, + focal_distance: 11.200000000000001, focal_slope: 2.0, horiz_offset_correction: -0.025999999, + laser_id: 53, rot_correction: 0.16876716543828738, vert_correction: -0.2409525119882134, + vert_offset_correction: 0.14941919} +- {dist_correction: 1.5190169, dist_correction_x: 1.5619051, dist_correction_y: 1.5511705, + focal_distance: 2.5, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 54, + rot_correction: 0.09037283276367176, vert_correction: -0.30313513748485243, vert_offset_correction: 0.15358547} +- {dist_correction: 1.3803656000000002, dist_correction_x: 1.3960698, dist_correction_y: 1.386106, + focal_distance: 12.5, focal_slope: 1.9, horiz_offset_correction: -0.025999999, laser_id: 55, + rot_correction: 0.14871534295217081, vert_correction: -0.29323634555253386, vert_offset_correction: 0.15291226} +- {dist_correction: 1.5827696, dist_correction_x: 1.6050609, dist_correction_y: 1.5844797, + focal_distance: 10.0, focal_slope: 1.95, horiz_offset_correction: 0.025999999, laser_id: 56, + rot_correction: -0.12100867217308608, vert_correction: -0.17760463486977288, vert_offset_correction: 0.14530372} +- {dist_correction: 1.3843919, dist_correction_x: 1.3915251000000002, dist_correction_y: 1.4156927, + focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999, + laser_id: 57, rot_correction: -0.06431965899265843, vert_correction: -0.17006926832673774, + vert_offset_correction: 0.14482104} +- {dist_correction: 1.5491273, dist_correction_x: 1.5298964000000002, dist_correction_y: 1.5107637, + focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 58, + rot_correction: -0.14486168214370612, vert_correction: -0.22974121500510264, vert_offset_correction: 0.14868247} +- {dist_correction: 1.3646004, dist_correction_x: 1.3803583000000001, dist_correction_y: 1.4061511, + focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 59, + rot_correction: -0.0852480451703211, vert_correction: -0.22391891879349718, vert_offset_correction: 0.14830141} +- {dist_correction: 1.5239935, dist_correction_x: 1.560786, dist_correction_y: 1.5632524, + focal_distance: 5.0, focal_slope: 1.15, horiz_offset_correction: 0.025999999, laser_id: 60, + rot_correction: -0.005967226432828876, vert_correction: -0.16231529056824404, vert_offset_correction: 0.14432566} +- {dist_correction: 1.4112029000000001, dist_correction_x: 1.4223886, dist_correction_y: 1.4542918, + focal_distance: 2.5, focal_slope: 1.05, horiz_offset_correction: -0.025999999, laser_id: 61, + rot_correction: 0.050600613599087636, vert_correction: -0.15314424682880032, vert_offset_correction: 0.14374136} +- {dist_correction: 1.5013637, dist_correction_x: 1.5208610999999999, dist_correction_y: 1.5006433000000001, + focal_distance: 16.5, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 62, + rot_correction: -0.027436902217920986, vert_correction: -0.21457119711920336, vert_offset_correction: 0.14769171} +- {dist_correction: 1.4423058, dist_correction_x: 1.4454633000000001, dist_correction_y: 1.4321198000000002, + focal_distance: 9.0, focal_slope: 1.45, horiz_offset_correction: -0.025999999, laser_id: 63, + rot_correction: 0.0290479702718764, vert_correction: -0.2079266762969834, vert_offset_correction: 0.14725984} +num_lasers: 64 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/64e_utexas.yaml b/src/velodyne/velodyne_pointcloud/params/64e_utexas.yaml new file mode 100644 index 0000000..a2d46d4 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/64e_utexas.yaml @@ -0,0 +1,259 @@ +# University of Texas HDL-64E calibration parameters +lasers: +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532, + vert_offset_correction: 0} +- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727, + vert_offset_correction: 0} +- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627, + vert_offset_correction: 0} +- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0, + rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359, + vert_offset_correction: 0} +- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0, + rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0, + rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293, + vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705, + vert_offset_correction: 0} +- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0, + rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742, + vert_offset_correction: 0} +- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0, + rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286, + vert_offset_correction: 0} +- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138, + vert_offset_correction: 0} +- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195, + vert_offset_correction: 0} +- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0, + rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0, + rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691, + vert_offset_correction: 0} +- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493, + vert_offset_correction: 0} +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0, + rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942, + vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0, + rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472, + vert_offset_correction: 0} +- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118, + vert_offset_correction: 0} +- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0, + rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853, + vert_offset_correction: 0} +- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0, + rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941, + vert_offset_correction: 0} +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0, + rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0, + rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0, + rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323, + vert_offset_correction: 0} +- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733, + vert_offset_correction: 0} +- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0, + rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471, + vert_offset_correction: 0} +- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0, + rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0, + rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0, + rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764, + vert_offset_correction: 0} +- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0, + rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531, + vert_offset_correction: 0} +- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0, + focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143, + two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902, + vert_offset_correction: 0} +num_lasers: 64 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml b/src/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml new file mode 100644 index 0000000..9dd6666 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml @@ -0,0 +1,51 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, + vert_correction: -0.17453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, + vert_correction: 0.011635528346628864, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, + vert_correction: -0.15126186850617523, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, + vert_correction: 0.03490658503988659, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, + vert_correction: -0.1279908118129175, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, + vert_correction: 0.05817764173314432, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, + vert_correction: -0.10471975511965977, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, + vert_correction: 0.08144869842640205, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, + vert_correction: -0.08144869842640205, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, + vert_correction: 0.10471975511965977, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, + vert_correction: -0.05817764173314432, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, + vert_correction: 0.1279908118129175, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, + vert_correction: -0.03490658503988659, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, + vert_correction: 0.15126186850617523, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, + vert_correction: -0.011635528346628864, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, + vert_correction: 0.17453292519943295, vert_offset_correction: 0.0} +num_lasers: 16 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/VLP16db.yaml b/src/velodyne/velodyne_pointcloud/params/VLP16db.yaml new file mode 100644 index 0000000..4717aea --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/VLP16db.yaml @@ -0,0 +1,51 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, + vert_correction: -0.2617993877991494, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, + vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, + vert_correction: -0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, + vert_correction: 0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, + vert_correction: -0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, + vert_correction: 0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, + vert_correction: -0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, + vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, + vert_correction: -0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, + vert_correction: 0.15707963267948966, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, + vert_correction: -0.08726646259971647, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, + vert_correction: 0.19198621771937624, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, + vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, + vert_correction: 0.22689280275926285, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, + vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, + vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} +num_lasers: 16 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/params/VLS128.yaml b/src/velodyne/velodyne_pointcloud/params/VLS128.yaml new file mode 100644 index 0000000..d0b232b --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/VLS128.yaml @@ -0,0 +1,387 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 0, rot_correction: -0.1108982206717197, vert_correction: -0.2049365607691742, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 1, rot_correction: -0.07937757438070212, vert_correction: -0.034732052114687155, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 2, rot_correction: -0.04768239516448509, vert_correction: 0.059341194567807204, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 3, rot_correction: -0.015899949485668342, vert_correction: -0.09232791743050003, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 4, rot_correction: 0.015899949485668342, vert_correction: -0.013613568165555772, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 5, rot_correction: 0.04768239516448509, vert_correction: 0.0804596785169386, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 6, rot_correction: 0.07937757438070212, vert_correction: -0.07120943348136864, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 7, rot_correction: 0.1108982206717197, vert_correction: 0.022863813201125717, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 8, rot_correction: -0.1108982206717197, vert_correction: -0.11344640137963143, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 9, rot_correction: -0.07937757438070212, vert_correction: -0.01937315469713706, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 10, rot_correction: -0.04768239516448509, vert_correction: 0.0747000919853573, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 11, rot_correction: -0.015899949485668342, vert_correction: -0.07696902001294993, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 12, rot_correction: 0.015899949485668342, vert_correction: 0.0017453292519943296, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 13, rot_correction: 0.04768239516448509, vert_correction: 0.11309733552923257, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 14, rot_correction: 0.07937757438070212, vert_correction: -0.05585053606381855, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 15, rot_correction: 0.1108982206717197, vert_correction: 0.03822271061867582, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 16, rot_correction: -0.1108982206717197, vert_correction: -0.06736970912698112, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 17, rot_correction: -0.07937757438070212, vert_correction: 0.026703537555513242, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 18, rot_correction: -0.04768239516448509, vert_correction: -0.16133823605435582, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 19, rot_correction: -0.015899949485668342, vert_correction: -0.030892327760299633, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 20, rot_correction: 0.015899949485668342, vert_correction: 0.04782202150464463, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 21, rot_correction: 0.04768239516448509, vert_correction: -0.10384709049366261, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 22, rot_correction: 0.07937757438070212, vert_correction: -0.009773843811168246, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 23, rot_correction: 0.1108982206717197, vert_correction: 0.08429940287132612, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 24, rot_correction: -0.1108982206717197, vert_correction: -0.05201081170943102, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 25, rot_correction: -0.07937757438070212, vert_correction: 0.04206243497306335, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 26, rot_correction: -0.04768239516448509, vert_correction: -0.1096066770252439, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 27, rot_correction: -0.015899949485668342, vert_correction: -0.015533430342749533, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 28, rot_correction: 0.015899949485668342, vert_correction: 0.06318091892219473, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 29, rot_correction: 0.04768239516448509, vert_correction: -0.08848819307611251, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 30, rot_correction: 0.07937757438070212, vert_correction: 0.005585053606381855, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 31, rot_correction: 0.1108982206717197, vert_correction: 0.1322959573011702, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 32, rot_correction: -0.1108982206717197, vert_correction: -0.005934119456780721, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 33, rot_correction: -0.07937757438070212, vert_correction: 0.09040805525330627, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 34, rot_correction: -0.04768239516448509, vert_correction: -0.0635299847725936, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 35, rot_correction: -0.015899949485668342, vert_correction: 0.030543261909900768, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 36, rot_correction: 0.015899949485668342, vert_correction: -0.4363323129985824, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 37, rot_correction: 0.04768239516448509, vert_correction: -0.04241150082346221, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 38, rot_correction: 0.07937757438070212, vert_correction: 0.05166174585903215, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 39, rot_correction: 0.1108982206717197, vert_correction: -0.10000736613927509, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 40, rot_correction: -0.1108982206717197, vert_correction: 0.00942477796076938, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 41, rot_correction: -0.07937757438070212, vert_correction: 0.16929693744344995, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 42, rot_correction: -0.04768239516448509, vert_correction: -0.04817108735504349, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 43, rot_correction: -0.015899949485668342, vert_correction: 0.04590215932745086, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 44, rot_correction: 0.015899949485668342, vert_correction: -0.13351768777756623, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 45, rot_correction: 0.04768239516448509, vert_correction: -0.027052603405912107, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 46, rot_correction: 0.07937757438070212, vert_correction: 0.06702064327658225, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 47, rot_correction: 0.1108982206717197, vert_correction: -0.08464846872172498, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 48, rot_correction: -0.1108982206717197, vert_correction: 0.05550147021341968, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 49, rot_correction: -0.07937757438070212, vert_correction: -0.09616764178488756, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 50, rot_correction: -0.04768239516448509, vert_correction: -0.0020943951023931952, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 51, rot_correction: -0.015899949485668342, vert_correction: 0.10000736613927509, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 52, rot_correction: 0.015899949485668342, vert_correction: -0.07504915783575616, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 53, rot_correction: 0.04768239516448509, vert_correction: 0.019024088846738195, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 54, rot_correction: 0.07937757438070212, vert_correction: -0.2799857186049304, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 55, rot_correction: 0.1108982206717197, vert_correction: -0.038571776469074684, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 56, rot_correction: -0.1108982206717197, vert_correction: 0.07086036763096977, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 57, rot_correction: -0.07937757438070212, vert_correction: -0.08080874436733745, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 58, rot_correction: -0.04768239516448509, vert_correction: 0.013264502315156905, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 59, rot_correction: -0.015899949485668342, vert_correction: 0.2617993877991494, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 60, rot_correction: 0.015899949485668342, vert_correction: -0.05969026041820607, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 61, rot_correction: 0.04768239516448509, vert_correction: 0.03438298626428829, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 62, rot_correction: 0.07937757438070212, vert_correction: -0.11955505376161157, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 63, rot_correction: 0.1108982206717197, vert_correction: -0.023212879051524585, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 64, rot_correction: -0.1108982206717197, vert_correction: -0.09808750396208132, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 65, rot_correction: -0.07937757438070212, vert_correction: -0.004014257279586958, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 66, rot_correction: -0.04768239516448509, vert_correction: 0.0947713783832921, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 67, rot_correction: -0.015899949485668342, vert_correction: -0.06161012259539983, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 68, rot_correction: 0.015899949485668342, vert_correction: 0.01710422666954443, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 69, rot_correction: 0.04768239516448509, vert_correction: -0.34177037412552963, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 70, rot_correction: 0.07937757438070212, vert_correction: -0.040491638646268445, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 71, rot_correction: 0.1108982206717197, vert_correction: 0.053581608036225914, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 72, rot_correction: -0.1108982206717197, vert_correction: -0.08272860654453122, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 73, rot_correction: -0.07937757438070212, vert_correction: 0.011344640137963142, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 74, rot_correction: -0.04768239516448509, vert_correction: 0.20507618710933373, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 75, rot_correction: -0.015899949485668342, vert_correction: -0.046251225177849735, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 76, rot_correction: 0.015899949485668342, vert_correction: 0.03246312408709453, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 77, rot_correction: 0.04768239516448509, vert_correction: -0.12479104151759457, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 78, rot_correction: 0.07937757438070212, vert_correction: -0.025132741228718343, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 79, rot_correction: 0.1108982206717197, vert_correction: 0.06894050545377602, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 80, rot_correction: -0.1108982206717197, vert_correction: -0.03665191429188092, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 81, rot_correction: -0.07937757438070212, vert_correction: 0.05742133239061344, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 82, rot_correction: -0.04768239516448509, vert_correction: -0.0942477796076938, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 83, rot_correction: -0.015899949485668342, vert_correction: -0.00017453292519943296, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 84, rot_correction: 0.015899949485668342, vert_correction: 0.07853981633974483, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 85, rot_correction: 0.04768239516448509, vert_correction: -0.07312929565856241, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 86, rot_correction: 0.07937757438070212, vert_correction: 0.020943951023931952, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 87, rot_correction: 0.1108982206717197, vert_correction: -0.23675391303303078, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 88, rot_correction: -0.1108982206717197, vert_correction: -0.02129301687433082, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 89, rot_correction: -0.07937757438070212, vert_correction: 0.07278022980816354, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 90, rot_correction: -0.04768239516448509, vert_correction: -0.07888888219014369, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 91, rot_correction: -0.015899949485668342, vert_correction: 0.015184364492350668, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 92, rot_correction: 0.015899949485668342, vert_correction: 0.10611601852125524, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 93, rot_correction: 0.04768239516448509, vert_correction: -0.05777039824101231, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 94, rot_correction: 0.07937757438070212, vert_correction: 0.03630284844148206, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 95, rot_correction: 0.1108982206717197, vert_correction: -0.11606439525762292, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 96, rot_correction: -0.1108982206717197, vert_correction: 0.024783675378319478, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 97, rot_correction: -0.07937757438070212, vert_correction: -0.18057176441133332, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 98, rot_correction: -0.04768239516448509, vert_correction: -0.032812189937493394, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 99, rot_correction: -0.015899949485668342, vert_correction: 0.061261056745000965, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 100, rot_correction: 0.015899949485668342, vert_correction: -0.10576695267085637, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 101, rot_correction: 0.04768239516448509, vert_correction: -0.011693705988362009, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 102, rot_correction: 0.07937757438070212, vert_correction: 0.08237954069413235, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 103, rot_correction: 0.1108982206717197, vert_correction: -0.06928957130417489, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 104, rot_correction: -0.1108982206717197, vert_correction: 0.04014257279586958, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 105, rot_correction: -0.07937757438070212, vert_correction: -0.11152653920243766, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 106, rot_correction: -0.04768239516448509, vert_correction: -0.017453292519943295, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 107, rot_correction: -0.015899949485668342, vert_correction: 0.07661995416255106, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 108, rot_correction: 0.015899949485668342, vert_correction: -0.09040805525330627, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 109, rot_correction: 0.04768239516448509, vert_correction: 0.003665191429188092, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 110, rot_correction: 0.07937757438070212, vert_correction: 0.12182398178920421, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 111, rot_correction: 0.1108982206717197, vert_correction: -0.05393067388662478, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 112, rot_correction: -0.1108982206717197, vert_correction: 0.08691739674931762, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 113, rot_correction: -0.07937757438070212, vert_correction: -0.06544984694978735, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 114, rot_correction: -0.04768239516448509, vert_correction: 0.028623399732707003, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 115, rot_correction: -0.015899949485668342, vert_correction: -0.1457698991265664, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 116, rot_correction: 0.015899949485668342, vert_correction: -0.044331363000655974, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 117, rot_correction: 0.04768239516448509, vert_correction: 0.04974188368183839, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 118, rot_correction: 0.07937757438070212, vert_correction: -0.10192722831646885, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 119, rot_correction: 0.1108982206717197, vert_correction: -0.007853981633974483, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 120, rot_correction: -0.1108982206717197, vert_correction: 0.14713125594312199, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 121, rot_correction: -0.07937757438070212, vert_correction: -0.05009094953223726, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 122, rot_correction: -0.04768239516448509, vert_correction: 0.0439822971502571, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 123, rot_correction: -0.015899949485668342, vert_correction: -0.10768681484805014, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 124, rot_correction: 0.015899949485668342, vert_correction: -0.02897246558310587, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 125, rot_correction: 0.04768239516448509, vert_correction: 0.0651007810993885, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 126, rot_correction: 0.07937757438070212, vert_correction: -0.08656833089891874, + vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, laser_id: 127, rot_correction: 0.1108982206717197, vert_correction: 0.007504915783575617, + vert_offset_correction: 0.0} +num_lasers: 128 +distance_resolution: 0.007 diff --git a/src/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml b/src/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml new file mode 100644 index 0000000..3b8d7de --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml @@ -0,0 +1,99 @@ +lasers: +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: -0.024434609527920613, + vert_correction: -0.4363323129985824, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.07330382858376185, + vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: -0.024434609527920613, + vert_correction: -0.029094638630745476, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.024434609527920613, + vert_correction: -0.2729520417193932, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: -0.024434609527920613, + vert_correction: -0.19739673840055869, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.024434609527920613, + vert_correction: 0.0, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: -0.07330382858376185, + vert_correction: -0.011641346110802179, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.024434609527920613, + vert_correction: -0.15433946575385857, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: -0.024434609527920613, + vert_correction: -0.12660618393966866, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.07330382858376185, + vert_correction: 0.005811946409141118, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: -0.024434609527920613, + vert_correction: -0.005811946409141118, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.024434609527920613, + vert_correction: -0.10730284241261137, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: -0.07330382858376185, + vert_correction: -0.0930784090088576, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.024434609527920613, + vert_correction: 0.02326523892908441, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: -0.07330382858376185, + vert_correction: 0.011641346110802179, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.024434609527920613, + vert_correction: -0.06981317007977318, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, rot_correction: -0.024434609527920613, + vert_correction: -0.08145451619057535, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, rot_correction: 0.07330382858376185, + vert_correction: 0.029094638630745476, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, rot_correction: -0.024434609527920613, + vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, rot_correction: 0.07330382858376185, + vert_correction: -0.06400122367063206, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, rot_correction: -0.07330382858376185, + vert_correction: -0.058171823968971005, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, rot_correction: 0.024434609527920613, + vert_correction: 0.058171823968971005, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, rot_correction: -0.024434609527920613, + vert_correction: 0.04071853144902771, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, rot_correction: 0.024434609527920613, + vert_correction: -0.04654793115068877, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, rot_correction: -0.024434609527920613, + vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, rot_correction: 0.024434609527920613, + vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, rot_correction: -0.024434609527920613, + vert_correction: 0.08145451619057535, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, rot_correction: 0.07330382858376185, + vert_correction: -0.04071853144902771, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, rot_correction: -0.07330382858376185, + vert_correction: -0.03490658503988659, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, rot_correction: 0.024434609527920613, + vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, rot_correction: -0.024434609527920613, + vert_correction: 0.18034487160857407, vert_offset_correction: 0.0} +- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, + focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, rot_correction: 0.024434609527920613, + vert_correction: -0.02326523892908441, vert_offset_correction: 0.0} +num_lasers: 32 +distance_resolution: 0.004 diff --git a/src/velodyne/velodyne_pointcloud/params/rviz_points.vcg b/src/velodyne/velodyne_pointcloud/params/rviz_points.vcg new file mode 100644 index 0000000..52e6fb1 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/params/rviz_points.vcg @@ -0,0 +1,78 @@ +Background\ ColorB=0 +Background\ ColorG=0 +Background\ ColorR=0 +Camera\ Config=0.384797 3.10041 41.6639 0 0 0 +Camera\ Type=rviz::OrbitViewController +Fixed\ Frame=/velodyne +Grid.Alpha=0.5 +Grid.Cell\ Size=1 +Grid.ColorB=0.5 +Grid.ColorG=0.5 +Grid.ColorR=0.5 +Grid.Enabled=1 +Grid.Line\ Style=0 +Grid.Line\ Width=0.03 +Grid.Normal\ Cell\ Count=0 +Grid.OffsetX=0 +Grid.OffsetY=0 +Grid.OffsetZ=0 +Grid.Plane=0 +Grid.Plane\ Cell\ Count=50 +Grid.Reference\ Frame= +Property\ Grid\ Splitter=751,78 +Property\ Grid\ State=expanded=.Global Options,Grid.Enabled,Velodyne Cloud.Enabled;splitterratio=0.5 +QMainWindow=000000ff00000000fd00000003000000000000011d0000038ffc0200000001fb000000100044006900730070006c006100790073010000001d0000038f000000ee00ffffff00000001000001300000038ffc0200000003fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000001d0000011f0000006700fffffffb0000000a00560069006500770073010000014200000145000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000028d0000011f0000006700ffffff00000003000005d10000003efc0100000001fb0000000800540069006d00650100000000000005d1000002bf00ffffff000003780000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 +TF.All\ Enabled=1 +TF.Enabled=1 +TF.Frame\ Timeout=15 +TF.Marker\ Scale=1 +TF.Show\ Arrows=1 +TF.Show\ Axes=1 +TF.Show\ Names=1 +TF.Update\ Interval=0 +Target\ Frame= +Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal +Tool\ 2D\ Pose\ EstimateTopic=initialpose +Velodyne\ Cloud..AxisColorAutocompute\ Value\ Bounds=1 +Velodyne\ Cloud..AxisColorAxis=2 +Velodyne\ Cloud..AxisColorMax\ Value=10 +Velodyne\ Cloud..AxisColorMin\ Value=-10 +Velodyne\ Cloud..AxisColorUse\ Fixed\ Frame=1 +Velodyne\ Cloud..FlatColorColorB=1 +Velodyne\ Cloud..FlatColorColorG=1 +Velodyne\ Cloud..FlatColorColorR=1 +Velodyne\ Cloud..IntensityAutocompute\ Intensity\ Bounds=1 +Velodyne\ Cloud..IntensityChannel\ Name=intensity +Velodyne\ Cloud..IntensityMax\ ColorB=1 +Velodyne\ Cloud..IntensityMax\ ColorG=0.776471 +Velodyne\ Cloud..IntensityMax\ ColorR=0.796078 +Velodyne\ Cloud..IntensityMax\ Intensity=255 +Velodyne\ Cloud..IntensityMin\ ColorB=1 +Velodyne\ Cloud..IntensityMin\ ColorG=0.0823529 +Velodyne\ Cloud..IntensityMin\ ColorR=0.141176 +Velodyne\ Cloud..IntensityMin\ Intensity=95 +Velodyne\ Cloud..IntensityUse\ full\ RGB\ spectrum=0 +Velodyne\ Cloud.Alpha=1 +Velodyne\ Cloud.Billboard\ Size=0.1 +Velodyne\ Cloud.Color\ Transformer=Intensity +Velodyne\ Cloud.Decay\ Time=0 +Velodyne\ Cloud.Enabled=1 +Velodyne\ Cloud.Position\ Transformer=XYZ +Velodyne\ Cloud.Queue\ Size=10 +Velodyne\ Cloud.Selectable=1 +Velodyne\ Cloud.Style=0 +Velodyne\ Cloud.Topic=/velodyne_points +[Display0] +ClassName=rviz::GridDisplay +Name=Grid +[Display1] +ClassName=rviz::TFDisplay +Name=TF +[Display2] +ClassName=rviz::PointCloud2Display +Name=Velodyne Cloud +[Window] +Height=1045 +Width=1505 +X=-8 +Y=-29 diff --git a/src/velodyne/velodyne_pointcloud/scripts/gen_calibration.py b/src/velodyne/velodyne_pointcloud/scripts/gen_calibration.py new file mode 100755 index 0000000..f9e6075 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/scripts/gen_calibration.py @@ -0,0 +1,209 @@ +#!/usr/bin/python +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Austin Robot Technology +# 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 Austin Robot Technology, Inc. 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 OWNER 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. +# +# Revision $Id$ + +""" +Generate YAML calibration file from Velodyne db.xml. + +The input data provided by the manufacturer are in degrees and +centimeters. The YAML file uses radians and meters, following ROS +standards [REP-0103]. + +""" + +from __future__ import print_function + +import math +import optparse +import os +import sys +from xml.etree import ElementTree +import yaml + +# parse the command line +usage = """usage: %prog infile.xml [outfile.yaml] + + Default output file is input file with .yaml suffix.""" +parser = optparse.OptionParser(usage=usage) +options, args = parser.parse_args() + +if len(args) < 1: + parser.error('XML file name missing') + sys.exit(9) + +xmlFile = args[0] +if len(args) >= 2: + yamlFile = args[1] +else: + yamlFile, ext = os.path.splitext(xmlFile) + yamlFile += '.yaml' + +print('converting "' + xmlFile + '" to "' + yamlFile + '"') + +calibrationGood = True +def xmlError(msg): + 'handle XML calibration error' + global calibrationGood + calibrationGood = False + print('gen_calibration.py: ' + msg) + +db = None +try: + db = ElementTree.parse(xmlFile) +except IOError: + xmlError('unable to read ' + xmlFile) +except ElementTree.ParseError: + xmlError('XML parse failed for ' + xmlFile) + +if not calibrationGood: + sys.exit(2) + +# create a dictionary to hold all relevant calibration values +calibration = {'num_lasers': 0, 'lasers': [], 'distance_resolution': 0.2} +cm2meters = 0.01 # convert centimeters to meters + +def addLaserCalibration(laser_num, key, val): + 'Define key and corresponding value for laser_num' + global calibration + if laser_num < len(calibration['lasers']): + calibration['lasers'][laser_num][key] = val + else: + calibration['lasers'].append({key: val}) + +# add enabled flags +num_enabled = 0 +enabled_lasers = [] +enabled = db.find('DB/enabled_') +if enabled == None: + print('no enabled tags found: assuming all 64 enabled') + num_enabled = 64 + enabled_lasers = [True for i in xrange(num_enabled)] +else: + index = 0 + for el in enabled: + if el.tag == 'item': + this_enabled = int(el.text) != 0 + enabled_lasers.append(this_enabled) + index += 1 + if this_enabled: + num_enabled += 1 + +calibration['num_lasers'] = num_enabled +print(str(num_enabled) + ' lasers') + +# add distance resolution (cm) +distLSB = db.find('DB/distLSB_') +if distLSB != None: + calibration['distance_resolution'] = float(distLSB.text) * cm2meters + +# add minimum laser intensities +minIntensities = db.find('DB/minIntensity_') +if minIntensities != None: + index = 0 + for el in minIntensities: + if el.tag == 'item': + if enabled_lasers[index]: + value = int(el.text) + if value != 0: + addLaserCalibration(index, 'min_intensity', value) + index += 1 + +# add maximum laser intensities +maxIntensities = db.find('DB/maxIntensity_') +if maxIntensities != None: + index = 0 + for el in maxIntensities: + if el.tag == 'item': + if enabled_lasers[index]: + value = int(el.text) + if value != 255: + addLaserCalibration(index, 'max_intensity', value) + index += 1 + +# add calibration information for each laser +for el in db.find('DB/points_'): + if el.tag == 'item': + for px in el: + for field in px: + if field.tag == 'id_': + index = int(field.text) + if not enabled_lasers[index]: + break # skip this laser, it is not enabled + addLaserCalibration(index, 'laser_id', index) + + if field.tag == 'rotCorrection_': + addLaserCalibration(index, 'rot_correction', + math.radians(float(field.text))) + elif field.tag == 'vertCorrection_': + addLaserCalibration(index, 'vert_correction', + math.radians(float(field.text))) + elif field.tag == 'distCorrection_': + addLaserCalibration(index, 'dist_correction', + float(field.text) * cm2meters) + elif field.tag == 'distCorrectionX_': + addLaserCalibration(index, 'dist_correction_x', + float(field.text) * cm2meters) + elif field.tag == 'distCorrectionY_': + addLaserCalibration(index, 'dist_correction_y', + float(field.text) * cm2meters) + elif field.tag == 'vertOffsetCorrection_': + addLaserCalibration(index, 'vert_offset_correction', + float(field.text) * cm2meters) + elif field.tag == 'horizOffsetCorrection_': + addLaserCalibration(index, 'horiz_offset_correction', + float(field.text) * cm2meters) + elif field.tag == 'focalDistance_': + addLaserCalibration(index, 'focal_distance', + float(field.text) * cm2meters) + elif field.tag == 'focalSlope_': + addLaserCalibration(index, 'focal_slope', float(field.text)) + +# validate input data +if calibration['num_lasers'] <= 0: + xmlError('no lasers defined') +elif calibration['num_lasers'] != num_enabled: + xmlError('inconsistent number of lasers defined') + +# TODO: make sure all required fields are present. +# (Which ones are required?) + +if calibrationGood: + + # write calibration data to YAML file + f = open(yamlFile, 'w') + try: + yaml.dump(calibration, f) + finally: + f.close() diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt b/src/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt new file mode 100644 index 0000000..c40cc42 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt @@ -0,0 +1,19 @@ +add_library(data_containers pointcloudXYZIRT.cc organized_cloudXYZIRT.cc) +add_dependencies(data_containers ${${PROJECT_NAME}_EXPORTED_TARGETS}) +target_link_libraries(data_containers velodyne_rawdata + ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) + +add_executable(transform_node transform_node.cc transform.cc) +add_dependencies(transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) +target_link_libraries(transform_node velodyne_rawdata data_containers + ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) + +add_library(transform_nodelet transform_nodelet.cc transform.cc) +add_dependencies(transform_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS}) +target_link_libraries(transform_nodelet velodyne_rawdata data_containers + ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) + +install(TARGETS data_containers transform_node transform_nodelet + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/organized_cloudXYZIRT.cc b/src/velodyne/velodyne_pointcloud/src/conversions/organized_cloudXYZIRT.cc new file mode 100644 index 0000000..196e31c --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/organized_cloudXYZIRT.cc @@ -0,0 +1,77 @@ + +#include + +namespace velodyne_pointcloud +{ +OrganizedCloudXYZIRT::OrganizedCloudXYZIRT( + const double max_range, const double min_range, + const std::string& target_frame, const std::string& fixed_frame, + const unsigned int num_lasers, const unsigned int scans_per_block) + : DataContainerBase( + max_range, min_range, target_frame, fixed_frame, + num_lasers, 0, false, scans_per_block, 6, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "intensity", 1, sensor_msgs::PointField::FLOAT32, + "ring", 1, sensor_msgs::PointField::UINT16, + "time", 1, sensor_msgs::PointField::FLOAT32), + iter_x(cloud, "x"), iter_y(cloud, "y"), iter_z(cloud, "z"), + iter_intensity(cloud, "intensity"), iter_ring(cloud, "ring"), iter_time(cloud, "time") + { + } + + void OrganizedCloudXYZIRT::newLine() + { + iter_x = iter_x + config_.init_width; + iter_y = iter_y + config_.init_width; + iter_z = iter_z + config_.init_width; + iter_ring = iter_ring + config_.init_width; + iter_intensity = iter_intensity + config_.init_width; + iter_time = iter_time + config_.init_width; + ++cloud.height; + } + + void OrganizedCloudXYZIRT::setup(const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg){ + DataContainerBase::setup(scan_msg); + iter_x = sensor_msgs::PointCloud2Iterator(cloud, "x"); + iter_y = sensor_msgs::PointCloud2Iterator(cloud, "y"); + iter_z = sensor_msgs::PointCloud2Iterator(cloud, "z"); + iter_intensity = sensor_msgs::PointCloud2Iterator(cloud, "intensity"); + iter_ring = sensor_msgs::PointCloud2Iterator(cloud, "ring"); + iter_time = sensor_msgs::PointCloud2Iterator(cloud, "time"); + } + + + void OrganizedCloudXYZIRT::addPoint(float x, float y, float z, + const uint16_t ring, const uint16_t /*azimuth*/, const float distance, const float intensity, const float time) + { + /** The laser values are not ordered, the organized structure + * needs ordered neighbour points. The right order is defined + * by the laser_ring value. + * To keep the right ordering, the filtered values are set to + * NaN. + */ + if (pointInRange(distance)) + { + transformPoint(x, y, z); + + *(iter_x+ring) = x; + *(iter_y+ring) = y; + *(iter_z+ring) = z; + *(iter_intensity+ring) = intensity; + *(iter_ring+ring) = ring; + *(iter_time+ring) = time; + } + else + { + *(iter_x+ring) = nanf(""); + *(iter_y+ring) = nanf(""); + *(iter_z+ring) = nanf(""); + *(iter_intensity+ring) = nanf(""); + *(iter_ring+ring) = ring; + *(iter_time+ring) = time; + } + } +} + diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/pointcloudXYZIRT.cc b/src/velodyne/velodyne_pointcloud/src/conversions/pointcloudXYZIRT.cc new file mode 100644 index 0000000..22e34a5 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/pointcloudXYZIRT.cc @@ -0,0 +1,62 @@ + + + +#include + +namespace velodyne_pointcloud +{ +PointcloudXYZIRT::PointcloudXYZIRT( + const double max_range, const double min_range, + const std::string& target_frame, const std::string& fixed_frame, + const unsigned int scans_per_block) + : DataContainerBase( + max_range, min_range, target_frame, fixed_frame, + 0, 1, true, scans_per_block, 6, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "intensity", 1, sensor_msgs::PointField::FLOAT32, + "ring", 1, sensor_msgs::PointField::UINT16, + "time", 1, sensor_msgs::PointField::FLOAT32), + iter_x(cloud, "x"), iter_y(cloud, "y"), iter_z(cloud, "z"), + iter_ring(cloud, "ring"), iter_intensity(cloud, "intensity"), iter_time(cloud, "time") + {}; + + void PointcloudXYZIRT::setup(const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg){ + DataContainerBase::setup(scan_msg); + iter_x = sensor_msgs::PointCloud2Iterator(cloud, "x"); + iter_y = sensor_msgs::PointCloud2Iterator(cloud, "y"); + iter_z = sensor_msgs::PointCloud2Iterator(cloud, "z"); + iter_intensity = sensor_msgs::PointCloud2Iterator(cloud, "intensity"); + iter_ring = sensor_msgs::PointCloud2Iterator(cloud, "ring"); + iter_time = sensor_msgs::PointCloud2Iterator(cloud, "time"); + } + + void PointcloudXYZIRT::newLine() + {} + + void PointcloudXYZIRT::addPoint(float x, float y, float z, uint16_t ring, uint16_t /*azimuth*/, float distance, float intensity, float time) + { + if(!pointInRange(distance)) return; + + // convert polar coordinates to Euclidean XYZ + + transformPoint(x, y, z); + + *iter_x = x; + *iter_y = y; + *iter_z = z; + *iter_ring = ring; + *iter_intensity = intensity; + *iter_time = time; + + ++cloud.width; + ++iter_x; + ++iter_y; + ++iter_z; + ++iter_ring; + ++iter_intensity; + ++iter_time; + } +} + diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/transform.cc b/src/velodyne/velodyne_pointcloud/src/conversions/transform.cc new file mode 100644 index 0000000..892f09f --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/transform.cc @@ -0,0 +1,149 @@ +/* + * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin + * Copyright (C) 2011 Jesse Vera + * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin + * License: Modified BSD Software License Agreement + * + * $Id$ + */ + +/** @file + + This class transforms raw Velodyne 3D LIDAR packets to PointCloud2 + in the /map frame of reference. + + @author Jack O'Quin + @author Jesse Vera + @author Sebastian Pütz + +*/ + +#include "velodyne_pointcloud/transform.h" + +#include +#include + +namespace velodyne_pointcloud +{ + /** @brief Constructor. */ + Transform::Transform(ros::NodeHandle node, ros::NodeHandle private_nh, std::string const & node_name): + data_(new velodyne_rawdata::RawData), + first_rcfg_call(true), + diagnostics_(node, private_nh, node_name) + { + boost::optional calibration = data_->setup(private_nh); + if(calibration) + { + ROS_DEBUG_STREAM("Calibration file loaded."); + config_.num_lasers = static_cast(calibration.get().num_lasers); + } + else + { + ROS_ERROR_STREAM("Could not load calibration file!"); + } + + // advertise output point cloud (before subscribing to input data) + output_ = node.advertise("velodyne_points", 10); + + srv_ = boost::make_shared> (private_nh); + dynamic_reconfigure::Server::CallbackType f; + f = boost::bind (&Transform::reconfigure_callback, this, _1, _2); + srv_->setCallback (f); + + velodyne_scan_ = node.subscribe("velodyne_packets", 10, &Transform::processScan, this); + + // Diagnostics + diagnostics_.setHardwareID("Velodyne Transform"); + // Arbitrary frequencies since we don't know which RPM is used, and are only + // concerned about monitoring the frequency. + diag_min_freq_ = 2.0; + diag_max_freq_ = 20.0; + using namespace diagnostic_updater; + diag_topic_.reset(new TopicDiagnostic("velodyne_points", diagnostics_, + FrequencyStatusParam(&diag_min_freq_, + &diag_max_freq_, + 0.1, 10), + TimeStampStatusParam())); + + } + + void Transform::reconfigure_callback( + velodyne_pointcloud::TransformNodeConfig &config, uint32_t level) + { + ROS_INFO_STREAM("Reconfigure request."); + data_->setParameters(config.min_range, config.max_range, + config.view_direction, config.view_width); + config_.target_frame = config.target_frame; + config_.fixed_frame = config.fixed_frame; + ROS_INFO_STREAM("Target frame ID now: " << config_.target_frame); + ROS_INFO_STREAM("Fixed frame ID now: " << config_.fixed_frame); + config_.min_range = config.min_range; + config_.max_range = config.max_range; + + boost::lock_guard guard(reconfigure_mtx_); + + if(first_rcfg_call || config.organize_cloud != config_.organize_cloud){ + first_rcfg_call = false; + config_.organize_cloud = config.organize_cloud; + if(config_.organize_cloud) + { + ROS_INFO_STREAM("Using the organized cloud format..."); + container_ptr = boost::shared_ptr( + new OrganizedCloudXYZIRT(config_.max_range, config_.min_range, + config_.target_frame, config_.fixed_frame, + config_.num_lasers, data_->scansPerPacket())); + } + else + { + container_ptr = boost::shared_ptr( + new PointcloudXYZIRT(config_.max_range, config_.min_range, + config_.target_frame, config_.fixed_frame, + data_->scansPerPacket())); + } + } + container_ptr->configure(config_.max_range, config_.min_range, config_.fixed_frame, config_.target_frame); + } + + /** @brief Callback for raw scan messages. + * + * @pre TF message filter has already waited until the transform to + * the configured @c frame_id can succeed. + */ + void + Transform::processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg) + { + if (output_.getNumSubscribers() == 0) // no one listening? + return; // avoid much work + + boost::lock_guard guard(reconfigure_mtx_); + + // allocate a point cloud with same time and frame ID as raw data + container_ptr->setup(scanMsg); + + // sufficient to calculate single transform for whole scan + if(!container_ptr->computeTransformToTarget(scanMsg->header.stamp)) + { + // target frame not available + return; + } + + // process each packet provided by the driver + for (size_t i = 0; i < scanMsg->packets.size(); ++i) + { + // calculate individual transform for each packet to account for ego + // during one rotation of the velodyne sensor + if(!container_ptr->computeTransformToFixed(scanMsg->packets[i].stamp)) + { + // fixed frame not available + return; + } + data_->unpack(scanMsg->packets[i], *container_ptr, scanMsg->header.stamp); + } + // publish the accumulated cloud message + output_.publish(container_ptr->finishCloud()); + + diag_topic_->tick(scanMsg->header.stamp); + diagnostics_.update(); + } + +} // namespace velodyne_pointcloud diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc b/src/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc new file mode 100644 index 0000000..c75e290 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc @@ -0,0 +1,31 @@ +/* + * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin + * License: Modified BSD Software License Agreement + * + * $Id$ + */ + +/** \file + + This ROS node transforms raw Velodyne LIDAR packets to PointCloud2 + in the /map frame of reference. + +*/ + +#include +#include "velodyne_pointcloud/transform.h" + +/** Main node entry point. */ +int main(int argc, char **argv) +{ + ros::init(argc, argv, "transform_node"); + + // create conversion class, which subscribes to raw data + velodyne_pointcloud::Transform transform(ros::NodeHandle(), + ros::NodeHandle("~")); + + // handle callbacks until shut down + ros::spin(); + + return 0; +} diff --git a/src/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc b/src/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc new file mode 100644 index 0000000..693114d --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin + * License: Modified BSD Software License Agreement + * + * $Id$ + */ + +/** @file + + This ROS nodelet transforms raw Velodyne 3D LIDAR packets to a + PointCloud2 in the /map frame. + +*/ + +#include +#include +#include + +#include "velodyne_pointcloud/transform.h" + +namespace velodyne_pointcloud +{ + class TransformNodelet: public nodelet::Nodelet + { + public: + + TransformNodelet() {} + ~TransformNodelet() {} + + private: + + virtual void onInit(); + boost::shared_ptr tf_; + }; + + /** @brief Nodelet initialization. */ + void TransformNodelet::onInit() + { + tf_.reset(new Transform(getNodeHandle(), getPrivateNodeHandle(), getName())); + } + +} // namespace velodyne_pointcloud + + +// Register this plugin with pluginlib. Names must match nodelets.xml. +// +// parameters: class type, base class type +PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::TransformNodelet, nodelet::Nodelet) diff --git a/src/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt b/src/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt new file mode 100644 index 0000000..aa50fd8 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt @@ -0,0 +1,8 @@ +add_library(velodyne_rawdata rawdata.cc calibration.cc) +target_link_libraries(velodyne_rawdata + ${catkin_LIBRARIES} + ${YAML_CPP_LIBRARIES}) +install(TARGETS velodyne_rawdata + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc new file mode 100644 index 0000000..4940a4f --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/lib/calibration.cc @@ -0,0 +1,283 @@ +/** + * \file calibration.cc + * \brief + * + * \author Piyush Khandelwal (piyushk@cs.utexas.edu) + * Copyright (C) 2012, Austin Robot Technology, + * The University of Texas at Austin + * + * License: Modified BSD License + * + * $ Id: 02/14/2012 11:36:36 AM piyushk $ + */ + +#include +#include +#include +#include +#include +#include + +#ifdef HAVE_NEW_YAMLCPP +namespace YAML { + + // The >> operator disappeared in yaml-cpp 0.5, so this function is + // added to provide support for code written under the yaml-cpp 0.3 API. + template + void operator >> (const YAML::Node& node, T& i) { + i = node.as(); + } +} /* YAML */ +#endif // HAVE_NEW_YAMLCPP + +#include +#include + +namespace velodyne_pointcloud +{ + + const std::string NUM_LASERS = "num_lasers"; + const std::string DISTANCE_RESOLUTION = "distance_resolution"; + const std::string LASERS = "lasers"; + const std::string LASER_ID = "laser_id"; + const std::string ROT_CORRECTION = "rot_correction"; + const std::string VERT_CORRECTION = "vert_correction"; + const std::string DIST_CORRECTION = "dist_correction"; + const std::string TWO_PT_CORRECTION_AVAILABLE = + "two_pt_correction_available"; + const std::string DIST_CORRECTION_X = "dist_correction_x"; + const std::string DIST_CORRECTION_Y = "dist_correction_y"; + const std::string VERT_OFFSET_CORRECTION = "vert_offset_correction"; + const std::string HORIZ_OFFSET_CORRECTION = "horiz_offset_correction"; + const std::string MAX_INTENSITY = "max_intensity"; + const std::string MIN_INTENSITY = "min_intensity"; + const std::string FOCAL_DISTANCE = "focal_distance"; + const std::string FOCAL_SLOPE = "focal_slope"; + + /** Read calibration for a single laser. */ + void operator >> (const YAML::Node& node, + std::pair& correction) + { + node[LASER_ID] >> correction.first; + node[ROT_CORRECTION] >> correction.second.rot_correction; + node[VERT_CORRECTION] >> correction.second.vert_correction; + node[DIST_CORRECTION] >> correction.second.dist_correction; +#ifdef HAVE_NEW_YAMLCPP + if (node[TWO_PT_CORRECTION_AVAILABLE]) + node[TWO_PT_CORRECTION_AVAILABLE] >> + correction.second.two_pt_correction_available; +#else + if (const YAML::Node *pName = node.FindValue(TWO_PT_CORRECTION_AVAILABLE)) + *pName >> correction.second.two_pt_correction_available; +#endif + else + correction.second.two_pt_correction_available = false; + node[DIST_CORRECTION_X] >> correction.second.dist_correction_x; + node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y; + node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction; +#ifdef HAVE_NEW_YAMLCPP + if (node[HORIZ_OFFSET_CORRECTION]) + node[HORIZ_OFFSET_CORRECTION] >> + correction.second.horiz_offset_correction; +#else + if (const YAML::Node *pName = node.FindValue(HORIZ_OFFSET_CORRECTION)) + *pName >> correction.second.horiz_offset_correction; +#endif + else + correction.second.horiz_offset_correction = 0; + + const YAML::Node * max_intensity_node = NULL; +#ifdef HAVE_NEW_YAMLCPP + if (node[MAX_INTENSITY]) { + const YAML::Node max_intensity_node_ref = node[MAX_INTENSITY]; + max_intensity_node = &max_intensity_node_ref; + } +#else + if (const YAML::Node *pName = node.FindValue(MAX_INTENSITY)) + max_intensity_node = pName; +#endif + if (max_intensity_node) { + float max_intensity_float; + *max_intensity_node >> max_intensity_float; + correction.second.max_intensity = floor(max_intensity_float); + } + else { + correction.second.max_intensity = 255; + } + + const YAML::Node * min_intensity_node = NULL; +#ifdef HAVE_NEW_YAMLCPP + if (node[MIN_INTENSITY]) { + const YAML::Node min_intensity_node_ref = node[MIN_INTENSITY]; + min_intensity_node = &min_intensity_node_ref; + } +#else + if (const YAML::Node *pName = node.FindValue(MIN_INTENSITY)) + min_intensity_node = pName; +#endif + if (min_intensity_node) { + float min_intensity_float; + *min_intensity_node >> min_intensity_float; + correction.second.min_intensity = floor(min_intensity_float); + } + else { + correction.second.min_intensity = 0; + } + node[FOCAL_DISTANCE] >> correction.second.focal_distance; + node[FOCAL_SLOPE] >> correction.second.focal_slope; + + // Calculate cached values + correction.second.cos_rot_correction = + cosf(correction.second.rot_correction); + correction.second.sin_rot_correction = + sinf(correction.second.rot_correction); + correction.second.cos_vert_correction = + cosf(correction.second.vert_correction); + correction.second.sin_vert_correction = + sinf(correction.second.vert_correction); + + correction.second.laser_ring = 0; // clear initially (set later) + } + + /** Read entire calibration file. */ + void operator >> (const YAML::Node& node, Calibration& calibration) + { + int num_lasers; + node[NUM_LASERS] >> num_lasers; + float distance_resolution_m; + node[DISTANCE_RESOLUTION] >> distance_resolution_m; + const YAML::Node& lasers = node[LASERS]; + calibration.laser_corrections.clear(); + calibration.num_lasers = num_lasers; + calibration.distance_resolution_m = distance_resolution_m; + calibration.laser_corrections.resize(num_lasers); + for (int i = 0; i < num_lasers; i++) { + std::pair correction; + lasers[i] >> correction; + const int index = correction.first; + if( index >= calibration.laser_corrections.size() ) + { + calibration.laser_corrections.resize( index+1 ); + } + calibration.laser_corrections[index] = (correction.second); + calibration.laser_corrections_map.insert(correction); + } + + // For each laser ring, find the next-smallest vertical angle. + // + // This implementation is simple, but not efficient. That is OK, + // since it only runs while starting up. + double next_angle = -std::numeric_limits::infinity(); + for (int ring = 0; ring < num_lasers; ++ring) { + + // find minimum remaining vertical offset correction + double min_seen = std::numeric_limits::infinity(); + int next_index = num_lasers; + for (int j = 0; j < num_lasers; ++j) { + + double angle = calibration.laser_corrections[j].vert_correction; + if (next_angle < angle && angle < min_seen) { + min_seen = angle; + next_index = j; + } + } + + if (next_index < num_lasers) { // anything found in this ring? + + // store this ring number with its corresponding laser number + calibration.laser_corrections[next_index].laser_ring = ring; + next_angle = min_seen; + if (calibration.ros_info) { + ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", + next_index, ring, next_angle); + } + } + } + } + + YAML::Emitter& operator << (YAML::Emitter& out, + const std::pair correction) + { + out << YAML::BeginMap; + out << YAML::Key << LASER_ID << YAML::Value << correction.first; + out << YAML::Key << ROT_CORRECTION << + YAML::Value << correction.second.rot_correction; + out << YAML::Key << VERT_CORRECTION << + YAML::Value << correction.second.vert_correction; + out << YAML::Key << DIST_CORRECTION << + YAML::Value << correction.second.dist_correction; + out << YAML::Key << TWO_PT_CORRECTION_AVAILABLE << + YAML::Value << correction.second.two_pt_correction_available; + out << YAML::Key << DIST_CORRECTION_X << + YAML::Value << correction.second.dist_correction_x; + out << YAML::Key << DIST_CORRECTION_Y << + YAML::Value << correction.second.dist_correction_y; + out << YAML::Key << VERT_OFFSET_CORRECTION << + YAML::Value << correction.second.vert_offset_correction; + out << YAML::Key << HORIZ_OFFSET_CORRECTION << + YAML::Value << correction.second.horiz_offset_correction; + out << YAML::Key << MAX_INTENSITY << + YAML::Value << correction.second.max_intensity; + out << YAML::Key << MIN_INTENSITY << + YAML::Value << correction.second.min_intensity; + out << YAML::Key << FOCAL_DISTANCE << + YAML::Value << correction.second.focal_distance; + out << YAML::Key << FOCAL_SLOPE << + YAML::Value << correction.second.focal_slope; + out << YAML::EndMap; + return out; + } + + YAML::Emitter& operator << + (YAML::Emitter& out, const Calibration& calibration) + { + out << YAML::BeginMap; + out << YAML::Key << NUM_LASERS << + YAML::Value << calibration.laser_corrections.size(); + out << YAML::Key << DISTANCE_RESOLUTION << + YAML::Value << calibration.distance_resolution_m; + out << YAML::Key << LASERS << YAML::Value << YAML::BeginSeq; + for (std::map::const_iterator + it = calibration.laser_corrections_map.begin(); + it != calibration.laser_corrections_map.end(); it++) + { + out << *it; + } + out << YAML::EndSeq; + out << YAML::EndMap; + return out; + } + + void Calibration::read(const std::string& calibration_file) { + std::ifstream fin(calibration_file.c_str()); + if (!fin.is_open()) { + initialized = false; + return; + } + initialized = true; + try { + YAML::Node doc; +#ifdef HAVE_NEW_YAMLCPP + fin.close(); + doc = YAML::LoadFile(calibration_file); +#else + YAML::Parser parser(fin); + parser.GetNextDocument(doc); +#endif + doc >> *this; + } catch (YAML::Exception &e) { + std::cerr << "YAML Exception: " << e.what() << std::endl; + initialized = false; + } + fin.close(); + } + + void Calibration::write(const std::string& calibration_file) { + std::ofstream fout(calibration_file.c_str()); + YAML::Emitter out; + out << *this; + fout << out.c_str(); + fout.close(); + } + +} /* velodyne_pointcloud */ diff --git a/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc new file mode 100644 index 0000000..2600bca --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/src/lib/rawdata.cc @@ -0,0 +1,824 @@ +/* + * Copyright (C) 2007 Austin Robot Technology, Patrick Beeson + * Copyright (C) 2009, 2010, 2012 Austin Robot Technology, Jack O'Quin + * Copyright (C) 2019, Kaarta Inc, Shawn Hanna + * + * License: Modified BSD Software License Agreement + * + * $Id$ + */ + +/** + * @file + * + * Velodyne 3D LIDAR data accessor class implementation. + * + * Class for unpacking raw Velodyne LIDAR packets into useful + * formats. + * + * Derived classes accept raw Velodyne data for either single packets + * or entire rotations, and provide it in various formats for either + * on-line or off-line processing. + * + * @author Patrick Beeson + * @author Jack O'Quin + * @author Shawn Hanna + * + * HDL-64E S2 calibration support provided by Nick Hillier + */ + +#include +#include + +#include +#include +#include + +#include + +namespace velodyne_rawdata +{ +inline float SQR(float val) { return val*val; } + + //////////////////////////////////////////////////////////////////////// + // + // RawData base class implementation + // + //////////////////////////////////////////////////////////////////////// + + RawData::RawData() {} + + /** Update parameters: conversions and update */ + void RawData::setParameters(double min_range, + double max_range, + double view_direction, + double view_width) + { + config_.min_range = min_range; + config_.max_range = max_range; + + //converting angle parameters into the velodyne reference (rad) + config_.tmp_min_angle = view_direction + view_width/2; + config_.tmp_max_angle = view_direction - view_width/2; + + //computing positive modulo to keep theses angles into [0;2*M_PI] + config_.tmp_min_angle = fmod(fmod(config_.tmp_min_angle,2*M_PI) + 2*M_PI,2*M_PI); + config_.tmp_max_angle = fmod(fmod(config_.tmp_max_angle,2*M_PI) + 2*M_PI,2*M_PI); + + //converting into the hardware velodyne ref (negative yaml and degrees) + //adding 0.5 perfomrs a centered double to int conversion + config_.min_angle = 100 * (2*M_PI - config_.tmp_min_angle) * 180 / M_PI + 0.5; + config_.max_angle = 100 * (2*M_PI - config_.tmp_max_angle) * 180 / M_PI + 0.5; + if (config_.min_angle == config_.max_angle) + { + //avoid returning empty cloud if min_angle = max_angle + config_.min_angle = 0; + config_.max_angle = 36000; + } + } + + int RawData::scansPerPacket() const + { + if( calibration_.num_lasers == 16) + { + return BLOCKS_PER_PACKET * VLP16_FIRINGS_PER_BLOCK * + VLP16_SCANS_PER_FIRING; + } + else{ + return BLOCKS_PER_PACKET * SCANS_PER_BLOCK; + } + } + + /** + * Build a timing table for each block/firing. Stores in timing_offsets vector + */ + bool RawData::buildTimings(){ + // vlp16 + if (config_.model == "VLP16"){ + // timing table calculation, from velodyne user manual + timing_offsets.resize(12); + for (size_t i=0; i < timing_offsets.size(); ++i){ + timing_offsets[i].resize(32); + } + // constants + double full_firing_cycle = 55.296 * 1e-6; // seconds + double single_firing = 2.304 * 1e-6; // seconds + double dataBlockIndex, dataPointIndex; + bool dual_mode = false; + // compute timing offsets + for (size_t x = 0; x < timing_offsets.size(); ++x){ + for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + if (dual_mode){ + dataBlockIndex = (x - (x % 2)) + (y / 16); + } + else{ + dataBlockIndex = (x * 2) + (y / 16); + } + dataPointIndex = y % 16; + //timing_offsets[block][firing] + timing_offsets[x][y] = (full_firing_cycle * dataBlockIndex) + (single_firing * dataPointIndex); + } + } + } + // vlp32 + else if (config_.model == "32C"){ + // timing table calculation, from velodyne user manual + timing_offsets.resize(12); + for (size_t i=0; i < timing_offsets.size(); ++i){ + timing_offsets[i].resize(32); + } + // constants + double full_firing_cycle = 55.296 * 1e-6; // seconds + double single_firing = 2.304 * 1e-6; // seconds + double dataBlockIndex, dataPointIndex; + bool dual_mode = false; + // compute timing offsets + for (size_t x = 0; x < timing_offsets.size(); ++x){ + for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + if (dual_mode){ + dataBlockIndex = x / 2; + } + else{ + dataBlockIndex = x; + } + dataPointIndex = y / 2; + timing_offsets[x][y] = (full_firing_cycle * dataBlockIndex) + (single_firing * dataPointIndex); + } + } + } + // hdl32 + else if (config_.model == "32E"){ + // timing table calculation, from velodyne user manual + timing_offsets.resize(12); + for (size_t i=0; i < timing_offsets.size(); ++i){ + timing_offsets[i].resize(32); + } + // constants + double full_firing_cycle = 46.080 * 1e-6; // seconds + double single_firing = 1.152 * 1e-6; // seconds + double dataBlockIndex, dataPointIndex; + bool dual_mode = false; + // compute timing offsets + for (size_t x = 0; x < timing_offsets.size(); ++x){ + for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + if (dual_mode){ + dataBlockIndex = x / 2; + } + else{ + dataBlockIndex = x; + } + dataPointIndex = y / 2; + timing_offsets[x][y] = (full_firing_cycle * dataBlockIndex) + (single_firing * dataPointIndex); + } + } + } + else if (config_.model == "VLS128"){ + + timing_offsets.resize(3); + for(size_t i=0; i < timing_offsets.size(); ++i) + { + timing_offsets[i].resize(17); // 17 (+1 for the maintenance time after firing group 8) + } + + double full_firing_cycle = VLS128_SEQ_TDURATION * 1e-6; //seconds + double single_firing = VLS128_CHANNEL_TDURATION * 1e-6; // seconds + double offset_paket_time = VLS128_TOH_ADJUSTMENT * 1e-6; //seconds + double sequenceIndex, firingGroupIndex; + // Compute timing offsets + for (size_t x = 0; x < timing_offsets.size(); ++x){ + for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + + sequenceIndex = x; + firingGroupIndex = y; + timing_offsets[x][y] = (full_firing_cycle * sequenceIndex) + (single_firing * firingGroupIndex) - offset_paket_time; + ROS_DEBUG(" firing_seque %lu firing_group %lu offset %f",x,y,timing_offsets[x][y]); + } + } + } + else{ + timing_offsets.clear(); + ROS_WARN("Timings not supported for model %s", config_.model.c_str()); + } + + if (timing_offsets.size()){ + // ROS_INFO("VELODYNE TIMING TABLE:"); + for (size_t x = 0; x < timing_offsets.size(); ++x){ + for (size_t y = 0; y < timing_offsets[x].size(); ++y){ + printf("%04.3f ", timing_offsets[x][y] * 1e6); + } + printf("\n"); + } + return true; + } + else{ + ROS_WARN("NO TIMING OFFSETS CALCULATED. ARE YOU USING A SUPPORTED VELODYNE SENSOR?"); + } + return false; + } + + /** Set up for on-line operation. */ + boost::optional RawData::setup(ros::NodeHandle private_nh) + { + + if (!private_nh.getParam("model", config_.model)) + { + config_.model = std::string("64E"); + ROS_ERROR("No Velodyne Sensor Model specified using default %s!", config_.model.c_str()); + + } + + buildTimings(); + + // get path to angles.config file for this device + if (!private_nh.getParam("calibration", config_.calibrationFile)) + { + ROS_ERROR_STREAM("No calibration angles specified! Using test values!"); + + // have to use something: grab unit test version as a default + std::string pkgPath = ros::package::getPath("velodyne_pointcloud"); + config_.calibrationFile = pkgPath + "/params/64e_utexas.yaml"; + } + + ROS_INFO_STREAM("correction angles: " << config_.calibrationFile); + + if (!loadCalibration()) { + return boost::none; + } + ROS_INFO_STREAM("Number of lasers: " << calibration_.num_lasers << "."); + + setupSinCosCache(); + setupAzimuthCache(); + + return calibration_; + } + + /** Set up for offline operation */ + int RawData::setupOffline(std::string calibration_file, double max_range_, double min_range_) + { + + config_.max_range = max_range_; + config_.min_range = min_range_; + ROS_INFO_STREAM("data ranges to publish: [" + << config_.min_range << ", " + << config_.max_range << "]"); + + config_.calibrationFile = calibration_file; + + ROS_INFO_STREAM("correction angles: " << config_.calibrationFile); + + if (!loadCalibration()) { + return -1; + } + ROS_INFO_STREAM("Number of lasers: " << calibration_.num_lasers << "."); + + setupSinCosCache(); + setupAzimuthCache(); + + return 0; + } + + bool RawData::loadCalibration() { + + calibration_.read(config_.calibrationFile); + if (!calibration_.initialized) { + ROS_ERROR_STREAM("Unable to open calibration file: " << config_.calibrationFile); + return false; + } + return true; + + } + void RawData::setupSinCosCache() + { + // Set up cached values for sin and cos of all the possible headings + for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) { + float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index); + cos_rot_table_[rot_index] = cosf(rotation); + sin_rot_table_[rot_index] = sinf(rotation); + } + + if (config_.model == "VLS128") { + for (uint8_t i = 0; i < 16; i++) { + vls_128_laser_azimuth_cache[i] = + (VLS128_CHANNEL_TDURATION / VLS128_SEQ_TDURATION) * (i + i / 8); + } + } + } + +void RawData::setupAzimuthCache() +{ + if (config_.model == "VLS128") { + for (uint8_t i = 0; i < 16; i++) { + vls_128_laser_azimuth_cache[i] = + (VLS128_CHANNEL_TDURATION / VLS128_SEQ_TDURATION) * (i + i / 8); + } + } + else{ + ROS_WARN("No Azimuth Cache configured for model %s", config_.model.c_str()); + } +} + + + /** @brief convert raw packet to point cloud + * + * @param pkt raw packet to unpack + * @param pc shared pointer to point cloud (points are appended) + */ + void RawData::unpack(const velodyne_msgs::VelodynePacket &pkt, DataContainerBase& data, const ros::Time& scan_start_time) + { + using velodyne_pointcloud::LaserCorrection; + ROS_DEBUG_STREAM("Received packet, time: " << pkt.stamp); + + /** special parsing for the VLS128 **/ + if (pkt.data[1205] == VLS128_MODEL_ID) { // VLS 128 + unpack_vls128(pkt, data, scan_start_time); + return; + } + + /** special parsing for the VLP16 **/ + if (calibration_.num_lasers == 16) + { + unpack_vlp16(pkt, data, scan_start_time); + return; + } + + float time_diff_start_to_this_packet = (pkt.stamp - scan_start_time).toSec(); + + const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0]; + + for (int i = 0; i < BLOCKS_PER_PACKET; i++) { + + // upper bank lasers are numbered [0..31] + // NOTE: this is a change from the old velodyne_common implementation + + int bank_origin = 0; + if (raw->blocks[i].header == LOWER_BANK) { + // lower bank lasers are [32..63] + bank_origin = 32; + } + + for (int j = 0, k = 0; j < SCANS_PER_BLOCK; j++, k += RAW_SCAN_SIZE) { + + float x, y, z; + float intensity; + const uint8_t laser_number = j + bank_origin; + float time = 0; + + const LaserCorrection &corrections = calibration_.laser_corrections[laser_number]; + + /** Position Calculation */ + const raw_block_t &block = raw->blocks[i]; + union two_bytes tmp; + tmp.bytes[0] = block.data[k]; + tmp.bytes[1] = block.data[k+1]; + + /*condition added to avoid calculating points which are not + in the interesting defined area (min_angle < area < max_angle)*/ + if ((block.rotation >= config_.min_angle + && block.rotation <= config_.max_angle + && config_.min_angle < config_.max_angle) + ||(config_.min_angle > config_.max_angle + && (raw->blocks[i].rotation <= config_.max_angle + || raw->blocks[i].rotation >= config_.min_angle))){ + + if (timing_offsets.size()) + { + time = timing_offsets[i][j] + time_diff_start_to_this_packet; + } + + if (tmp.uint == 0) // no valid laser beam return + { + // call to addPoint is still required since output could be organized + data.addPoint(nanf(""), nanf(""), nanf(""), corrections.laser_ring, raw->blocks[i].rotation, nanf(""), nanf(""), time); + continue; + } + + float distance = tmp.uint * calibration_.distance_resolution_m; + distance += corrections.dist_correction; + + float cos_vert_angle = corrections.cos_vert_correction; + float sin_vert_angle = corrections.sin_vert_correction; + float cos_rot_correction = corrections.cos_rot_correction; + float sin_rot_correction = corrections.sin_rot_correction; + + // cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b) + // sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b) + float cos_rot_angle = + cos_rot_table_[block.rotation] * cos_rot_correction + + sin_rot_table_[block.rotation] * sin_rot_correction; + float sin_rot_angle = + sin_rot_table_[block.rotation] * cos_rot_correction - + cos_rot_table_[block.rotation] * sin_rot_correction; + + float horiz_offset = corrections.horiz_offset_correction; + float vert_offset = corrections.vert_offset_correction; + + // Compute the distance in the xy plane (w/o accounting for rotation) + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + float xy_distance = distance * cos_vert_angle - vert_offset * sin_vert_angle; + + // Calculate temporal X, use absolute value. + float xx = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; + // Calculate temporal Y, use absolute value + float yy = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; + if (xx < 0) xx=-xx; + if (yy < 0) yy=-yy; + + // Get 2points calibration values,Linear interpolation to get distance + // correction for X and Y, that means distance correction use + // different value at different distance + float distance_corr_x = 0; + float distance_corr_y = 0; + if (corrections.two_pt_correction_available) { + distance_corr_x = + (corrections.dist_correction - corrections.dist_correction_x) + * (xx - 2.4) / (25.04 - 2.4) + + corrections.dist_correction_x; + distance_corr_x -= corrections.dist_correction; + distance_corr_y = + (corrections.dist_correction - corrections.dist_correction_y) + * (yy - 1.93) / (25.04 - 1.93) + + corrections.dist_correction_y; + distance_corr_y -= corrections.dist_correction; + } + + float distance_x = distance + distance_corr_x; + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + xy_distance = distance_x * cos_vert_angle - vert_offset * sin_vert_angle ; + ///the expression wiht '-' is proved to be better than the one with '+' + x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; + + float distance_y = distance + distance_corr_y; + xy_distance = distance_y * cos_vert_angle - vert_offset * sin_vert_angle ; + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + y = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; + + // Using distance_y is not symmetric, but the velodyne manual + // does this. + /**the new term of 'vert_offset * cos_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + z = distance_y * sin_vert_angle + vert_offset*cos_vert_angle; + + /** Use standard ROS coordinate system (right-hand rule) */ + float x_coord = y; + float y_coord = -x; + float z_coord = z; + + /** Intensity Calculation */ + + float min_intensity = corrections.min_intensity; + float max_intensity = corrections.max_intensity; + + intensity = raw->blocks[i].data[k+2]; + + float focal_offset = 256 + * (1 - corrections.focal_distance / 13100) + * (1 - corrections.focal_distance / 13100); + float focal_slope = corrections.focal_slope; + intensity += focal_slope * (std::abs(focal_offset - 256 * + SQR(1 - static_cast(tmp.uint)/65535))); + intensity = (intensity < min_intensity) ? min_intensity : intensity; + intensity = (intensity > max_intensity) ? max_intensity : intensity; + + data.addPoint(x_coord, y_coord, z_coord, corrections.laser_ring, raw->blocks[i].rotation, distance, intensity, time); + } + } + data.newLine(); + } + } + +/** @brief convert raw VLS128 packet to point cloud + * + * @param pkt raw packet to unpack + * @param pc shared pointer to point cloud (points are appended) + */ +void RawData::unpack_vls128(const velodyne_msgs::VelodynePacket &pkt, DataContainerBase& data, + const ros::Time& scan_start_time) { + float azimuth_diff, azimuth_corrected_f; + float last_azimuth_diff = 0; + uint16_t azimuth, azimuth_next, azimuth_corrected; + float x_coord, y_coord, z_coord; + float distance; + const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0]; + union two_bytes tmp; + + float cos_vert_angle, sin_vert_angle, cos_rot_correction, sin_rot_correction; + float cos_rot_angle, sin_rot_angle; + float xy_distance; + + float time_diff_start_to_this_packet = (pkt.stamp - scan_start_time).toSec(); + + uint8_t laser_number, firing_order; + bool dual_return = (pkt.data[1204] == 57); + + for (int block = 0; block < BLOCKS_PER_PACKET - (4* dual_return); block++) { + // cache block for use + const raw_block_t ¤t_block = raw->blocks[block]; + float time = 0; + + int bank_origin = 0; + // Used to detect which bank of 32 lasers is in this block + switch (current_block.header) { + case VLS128_BANK_1: + bank_origin = 0; + break; + case VLS128_BANK_2: + bank_origin = 32; + break; + case VLS128_BANK_3: + bank_origin = 64; + break; + case VLS128_BANK_4: + bank_origin = 96; + break; + default: + // ignore packets with mangled or otherwise different contents + // Do not flood the log with messages, only issue at most one + // of these warnings per minute. + ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLS-128 packet: block " + << block << " header value is " + << raw->blocks[block].header); + return; // bad packet: skip the rest + } + + // Calculate difference between current and next block's azimuth angle. + if (block == 0) { + azimuth = current_block.rotation; + } else { + azimuth = azimuth_next; + } + if (block < (BLOCKS_PER_PACKET - (1+dual_return))) { + // Get the next block rotation to calculate how far we rotate between blocks + azimuth_next = raw->blocks[block + (1+dual_return)].rotation; + + // Finds the difference between two successive blocks + azimuth_diff = (float)((36000 + azimuth_next - azimuth) % 36000); + + // This is used when the last block is next to predict rotation amount + last_azimuth_diff = azimuth_diff; + } else { + // This makes the assumption the difference between the last block and the next packet is the + // same as the last to the second to last. + // Assumes RPM doesn't change much between blocks + azimuth_diff = (block == BLOCKS_PER_PACKET - (4*dual_return)-1) ? 0 : last_azimuth_diff; + } + + // condition added to avoid calculating points which are not in the interesting defined area (min_angle < area < max_angle) + if ((config_.min_angle < config_.max_angle && azimuth >= config_.min_angle && azimuth <= config_.max_angle) || (config_.min_angle > config_.max_angle)) { + for (int j = 0, k = 0; j < SCANS_PER_BLOCK; j++, k += RAW_SCAN_SIZE) { + // distance extraction + tmp.bytes[0] = current_block.data[k]; + tmp.bytes[1] = current_block.data[k + 1]; + distance = tmp.uint * VLS128_DISTANCE_RESOLUTION; + + + + if (pointInRange(distance)) { + laser_number = j + bank_origin; // Offset the laser in this block by which block it's in + firing_order = laser_number / 8; // VLS-128 fires 8 lasers at a time + + if (timing_offsets.size()) + { + time = timing_offsets[block/4][firing_order + laser_number/64] + time_diff_start_to_this_packet; + } + + velodyne_pointcloud::LaserCorrection &corrections = calibration_.laser_corrections[laser_number]; + + // correct for the laser rotation as a function of timing during the firings + azimuth_corrected_f = azimuth + (azimuth_diff * vls_128_laser_azimuth_cache[firing_order]); + azimuth_corrected = ((uint16_t) round(azimuth_corrected_f)) % 36000; + + // convert polar coordinates to Euclidean XYZ + cos_vert_angle = corrections.cos_vert_correction; + sin_vert_angle = corrections.sin_vert_correction; + cos_rot_correction = corrections.cos_rot_correction; + sin_rot_correction = corrections.sin_rot_correction; + + // cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b) + // sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b) + cos_rot_angle = + cos_rot_table_[azimuth_corrected] * cos_rot_correction + + sin_rot_table_[azimuth_corrected] * sin_rot_correction; + sin_rot_angle = + sin_rot_table_[azimuth_corrected] * cos_rot_correction - + cos_rot_table_[azimuth_corrected] * sin_rot_correction; + + // Compute the distance in the xy plane (w/o accounting for rotation) + xy_distance = distance * cos_vert_angle; + + data.addPoint(xy_distance * cos_rot_angle, + -(xy_distance * sin_rot_angle), + distance * sin_vert_angle, + corrections.laser_ring, + azimuth_corrected, + distance, + current_block.data[k + 2], + time); + } + } + + if (current_block.header == VLS128_BANK_4) + { + // add a new line only after the last bank (VLS128_BANK_4) + data.newLine(); + } + } + } +} + + /** @brief convert raw VLP16 packet to point cloud + * + * @param pkt raw packet to unpack + * @param pc shared pointer to point cloud (points are appended) + */ + void RawData::unpack_vlp16(const velodyne_msgs::VelodynePacket &pkt, DataContainerBase& data, const ros::Time& scan_start_time) + { + float azimuth; + float azimuth_diff; + int raw_azimuth_diff; + float last_azimuth_diff=0; + float azimuth_corrected_f; + int azimuth_corrected; + float x, y, z; + float intensity; + + float time_diff_start_to_this_packet = (pkt.stamp - scan_start_time).toSec(); + + const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0]; + + for (int block = 0; block < BLOCKS_PER_PACKET; block++) { + + // ignore packets with mangled or otherwise different contents + if (UPPER_BANK != raw->blocks[block].header) { + // Do not flood the log with messages, only issue at most one + // of these warnings per minute. + ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-16 packet: block " + << block << " header value is " + << raw->blocks[block].header); + return; // bad packet: skip the rest + } + + // Calculate difference between current and next block's azimuth angle. + azimuth = (float)(raw->blocks[block].rotation); + if (block < (BLOCKS_PER_PACKET-1)){ + raw_azimuth_diff = raw->blocks[block+1].rotation - raw->blocks[block].rotation; + azimuth_diff = (float)((36000 + raw_azimuth_diff)%36000); + // some packets contain an angle overflow where azimuth_diff < 0 + if(raw_azimuth_diff < 0)//raw->blocks[block+1].rotation - raw->blocks[block].rotation < 0) + { + ROS_WARN_STREAM_THROTTLE(60, "Packet containing angle overflow, first angle: " << raw->blocks[block].rotation << " second angle: " << raw->blocks[block+1].rotation); + // if last_azimuth_diff was not zero, we can assume that the velodyne's speed did not change very much and use the same difference + if(last_azimuth_diff > 0){ + azimuth_diff = last_azimuth_diff; + } + // otherwise we are not able to use this data + // TODO: we might just not use the second 16 firings + else{ + continue; + } + } + last_azimuth_diff = azimuth_diff; + }else{ + azimuth_diff = last_azimuth_diff; + } + + for (int firing=0, k=0; firing < VLP16_FIRINGS_PER_BLOCK; firing++){ + for (int dsr=0; dsr < VLP16_SCANS_PER_FIRING; dsr++, k+=RAW_SCAN_SIZE){ + velodyne_pointcloud::LaserCorrection &corrections = calibration_.laser_corrections[dsr]; + + /** Position Calculation */ + union two_bytes tmp; + tmp.bytes[0] = raw->blocks[block].data[k]; + tmp.bytes[1] = raw->blocks[block].data[k+1]; + + /** correct for the laser rotation as a function of timing during the firings **/ + azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION); + azimuth_corrected = ((int)round(azimuth_corrected_f)) % 36000; + + /*condition added to avoid calculating points which are not + in the interesting defined area (min_angle < area < max_angle)*/ + if ((azimuth_corrected >= config_.min_angle + && azimuth_corrected <= config_.max_angle + && config_.min_angle < config_.max_angle) + ||(config_.min_angle > config_.max_angle + && (azimuth_corrected <= config_.max_angle + || azimuth_corrected >= config_.min_angle))){ + + // convert polar coordinates to Euclidean XYZ + float distance = tmp.uint * calibration_.distance_resolution_m; + distance += corrections.dist_correction; + + float cos_vert_angle = corrections.cos_vert_correction; + float sin_vert_angle = corrections.sin_vert_correction; + float cos_rot_correction = corrections.cos_rot_correction; + float sin_rot_correction = corrections.sin_rot_correction; + + // cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b) + // sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b) + float cos_rot_angle = + cos_rot_table_[azimuth_corrected] * cos_rot_correction + + sin_rot_table_[azimuth_corrected] * sin_rot_correction; + float sin_rot_angle = + sin_rot_table_[azimuth_corrected] * cos_rot_correction - + cos_rot_table_[azimuth_corrected] * sin_rot_correction; + + float horiz_offset = corrections.horiz_offset_correction; + float vert_offset = corrections.vert_offset_correction; + + // Compute the distance in the xy plane (w/o accounting for rotation) + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + float xy_distance = distance * cos_vert_angle - vert_offset * sin_vert_angle; + + // Calculate temporal X, use absolute value. + float xx = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; + // Calculate temporal Y, use absolute value + float yy = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; + if (xx < 0) xx=-xx; + if (yy < 0) yy=-yy; + + // Get 2points calibration values,Linear interpolation to get distance + // correction for X and Y, that means distance correction use + // different value at different distance + float distance_corr_x = 0; + float distance_corr_y = 0; + if (corrections.two_pt_correction_available) { + distance_corr_x = + (corrections.dist_correction - corrections.dist_correction_x) + * (xx - 2.4) / (25.04 - 2.4) + + corrections.dist_correction_x; + distance_corr_x -= corrections.dist_correction; + distance_corr_y = + (corrections.dist_correction - corrections.dist_correction_y) + * (yy - 1.93) / (25.04 - 1.93) + + corrections.dist_correction_y; + distance_corr_y -= corrections.dist_correction; + } + + float distance_x = distance + distance_corr_x; + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + xy_distance = distance_x * cos_vert_angle - vert_offset * sin_vert_angle ; + x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; + + float distance_y = distance + distance_corr_y; + /**the new term of 'vert_offset * sin_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + xy_distance = distance_y * cos_vert_angle - vert_offset * sin_vert_angle ; + y = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; + + // Using distance_y is not symmetric, but the velodyne manual + // does this. + /**the new term of 'vert_offset * cos_vert_angle' + * was added to the expression due to the mathemathical + * model we used. + */ + z = distance_y * sin_vert_angle + vert_offset*cos_vert_angle; + + + /** Use standard ROS coordinate system (right-hand rule) */ + float x_coord = y; + float y_coord = -x; + float z_coord = z; + + /** Intensity Calculation */ + float min_intensity = corrections.min_intensity; + float max_intensity = corrections.max_intensity; + + intensity = raw->blocks[block].data[k+2]; + + float focal_offset = 256 * SQR(1 - corrections.focal_distance / 13100); + float focal_slope = corrections.focal_slope; + intensity += focal_slope * (std::abs(focal_offset - 256 * + SQR(1 - static_cast(tmp.uint) / 65535))); + intensity = (intensity < min_intensity) ? min_intensity : intensity; + intensity = (intensity > max_intensity) ? max_intensity : intensity; + + float time = 0; + if (timing_offsets.size()) + time = timing_offsets[block][firing * 16 + dsr] + time_diff_start_to_this_packet; + + data.addPoint(x_coord, y_coord, z_coord, corrections.laser_ring, azimuth_corrected, distance, intensity, time); + } + } + data.newLine(); + } + } + } +} // namespace velodyne_rawdata diff --git a/src/velodyne/velodyne_pointcloud/tests/32db.xml 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0.80000001 + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/CMakeLists.txt b/src/velodyne/velodyne_pointcloud/tests/CMakeLists.txt new file mode 100644 index 0000000..b476cc2 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/CMakeLists.txt @@ -0,0 +1,50 @@ +### Unit tests +# +# Only configured when CATKIN_ENABLE_TESTING is true. + +# these dependencies are only needed for unit testing +find_package(roslaunch REQUIRED) +find_package(rostest REQUIRED) +find_package(tf2_ros REQUIRED) + +# C++ gtests +catkin_add_gtest(test_calibration test_calibration.cpp) +add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES}) + +# Download packet capture (PCAP) files containing test data. +# Store them in devel-space, so rostest can easily find them. +catkin_download_test_data( + ${PROJECT_NAME}_tests_class.pcap + http://download.ros.org/data/velodyne/class.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 65808d25772101358a3719b451b3d015) +catkin_download_test_data( + ${PROJECT_NAME}_tests_32e.pcap + http://download.ros.org/data/velodyne/32e.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 e41d02aac34f0967c03a5597e1d554a9) +catkin_download_test_data( + ${PROJECT_NAME}_tests_64e_s2.1-300-sztaki.pcap + http://download.ros.org/data/velodyne/64e_s2.1-300-sztaki.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 176c900ffb698f9b948a13e281ffc1a2) +catkin_download_test_data( + ${PROJECT_NAME}_tests_vlp16.pcap + http://download.ros.org/data/velodyne/vlp16.pcap + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests + MD5 f45c2bb1d7ee358274e423ea3b66fd73) + +# run rostests +add_rostest(transform_node_hz.test) +add_rostest(transform_nodelet_hz.test) +add_rostest(transform_node_32e_hz.test) +add_rostest(transform_nodelet_32e_hz.test) +add_rostest(transform_node_64e_s2.1_hz.test) +add_rostest(transform_nodelet_64e_s2.1_hz.test) +add_rostest(transform_node_vlp16_hz.test) +add_rostest(transform_nodelet_vlp16_hz.test) +add_rostest(two_nodelet_managers.test) + +# parse check all the launch/*.launch files +roslaunch_add_file_check(../launch) diff --git a/src/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml b/src/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml new file mode 100644 index 0000000..bf2bd69 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml @@ -0,0 +1,835 @@ +num_lasers: 64 +distance_resolution: 0.002 +lasers: + - laser_id: 0 + rot_correction: -0.122173048555851 + vert_correction: -0.401850968599319 + dist_correction: 0.119999997317791 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 1 + rot_correction: -0.0610865242779255 + vert_correction: -0.39391815662384 + dist_correction: 0.0199999995529652 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 2 + rot_correction: 0.0959931090474129 + vert_correction: -0.200955957174301 + dist_correction: 0.100000001490116 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 3 + rot_correction: 0.148352980613708 + vert_correction: -0.188023120164871 + dist_correction: 0.230000004172325 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 4 + rot_correction: -0.00872664619237185 + vert_correction: -0.384992778301239 + dist_correction: 0.170000001788139 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 5 + rot_correction: 0.0610865242779255 + vert_correction: -0.379074156284332 + dist_correction: 0.150000005960464 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 6 + rot_correction: -0.0174532923847437 + vert_correction: -0.445288896560669 + dist_correction: 0.0500000007450581 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 7 + rot_correction: 0.0349065847694874 + vert_correction: -0.43470174074173 + dist_correction: 0.270000010728836 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 8 + rot_correction: 0.122173048555851 + vert_correction: -0.3671615421772 + dist_correction: 0.180000007152557 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 9 + rot_correction: 0.174532920122147 + vert_correction: -0.357254236936569 + dist_correction: 0.189999997615814 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 10 + rot_correction: 0.104719758033752 + vert_correction: -0.423742026090622 + dist_correction: 0.100000001490116 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 11 + rot_correction: 0.165806278586388 + vert_correction: -0.414792060852051 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 12 + rot_correction: -0.113446399569511 + vert_correction: -0.288992017507553 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 13 + rot_correction: -0.0567231997847557 + vert_correction: -0.28310164809227 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 14 + rot_correction: -0.13962633907795 + vert_correction: -0.347351551055908 + dist_correction: 0.150000005960464 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 15 + rot_correction: -0.0872664600610733 + vert_correction: -0.332452714443207 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 16 + rot_correction: 0 + vert_correction: -0.274210214614868 + dist_correction: 0.0599999986588955 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 17 + rot_correction: 0.0558505356311798 + vert_correction: -0.266317009925842 + dist_correction: 0.129999995231628 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 18 + rot_correction: -0.0174532923847437 + vert_correction: -0.331895291805267 + dist_correction: 0.00999999977648258 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 19 + rot_correction: 0.0349065847694874 + vert_correction: -0.323663860559464 + dist_correction: 0.150000005960464 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 20 + rot_correction: 0.122173048555851 + vert_correction: -0.256421387195587 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 21 + rot_correction: 0.165806278586388 + vert_correction: -0.244522526860237 + dist_correction: 0.239999994635582 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 22 + rot_correction: 0.104719758033752 + vert_correction: -0.31077241897583 + dist_correction: 0.180000007152557 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 23 + rot_correction: 0.157079637050629 + vert_correction: -0.302882075309753 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 24 + rot_correction: -0.104719758033752 + vert_correction: -0.180082052946091 + dist_correction: 0.140000000596046 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 25 + rot_correction: -0.0610865242779255 + vert_correction: -0.172132045030594 + dist_correction: 0.319999992847443 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 26 + rot_correction: -0.13962633907795 + vert_correction: -0.235619828104973 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 27 + rot_correction: -0.0785398185253143 + vert_correction: -0.228712558746338 + dist_correction: 0.25 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 28 + rot_correction: 0 + vert_correction: -0.16517236828804 + dist_correction: 0.170000001788139 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 29 + rot_correction: 0.0436332300305367 + vert_correction: -0.154202222824097 + dist_correction: 0.230000004172325 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 30 + rot_correction: -0.0174532923847437 + vert_correction: -0.219799935817719 + dist_correction: 0.150000005960464 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 31 + rot_correction: 0.0314159244298935 + vert_correction: -0.21088133752346 + dist_correction: 0.230000004172325 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 32 + rot_correction: -0.0698131695389748 + vert_correction: -0.121932752430439 + dist_correction: 0.100000001490116 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 33 + rot_correction: -0.0392699092626572 + vert_correction: -0.113993428647518 + dist_correction: 0.280000001192093 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 34 + rot_correction: 0.0698131695389748 + vert_correction: 0.0055470340885222 + dist_correction: 0.319999992847443 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 35 + rot_correction: 0.104719758033752 + vert_correction: 0.0114863449707627 + dist_correction: 0.230000004172325 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 36 + rot_correction: 0.013962633907795 + vert_correction: -0.109056323766708 + dist_correction: 0.0700000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 37 + rot_correction: 0.0392699092626572 + vert_correction: -0.104121200740337 + dist_correction: 0.0900000035762787 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 38 + rot_correction: 0 + vert_correction: -0.14471623301506 + dist_correction: 0.119999997317791 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 39 + rot_correction: 0.0226892791688442 + vert_correction: -0.1387659907341 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 40 + rot_correction: 0.0820304751396179 + vert_correction: -0.0981878563761711 + dist_correction: 0.129999995231628 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 41 + rot_correction: 0.113446399569511 + vert_correction: -0.0952560678124428 + dist_correction: 0.159999996423721 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 42 + rot_correction: 0.0698131695389748 + vert_correction: -0.132818818092346 + dist_correction: 0.159999996423721 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 43 + rot_correction: 0.104719758033752 + vert_correction: -0.127874463796616 + dist_correction: 0.159999996423721 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 44 + rot_correction: -0.068067841231823 + vert_correction: -0.05375986546278 + dist_correction: 0.129999995231628 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 45 + rot_correction: -0.0349065847694874 + vert_correction: -0.0478330813348293 + dist_correction: 0.200000002980232 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 46 + rot_correction: -0.0837758108973503 + vert_correction: -0.0893256440758705 + dist_correction: 0.170000001788139 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 47 + rot_correction: -0.0479965545237064 + vert_correction: -0.0833963677287102 + dist_correction: 0.239999994635582 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 48 + rot_correction: 0.00872664619237185 + vert_correction: -0.0419059917330742 + dist_correction: 0.180000007152557 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 49 + rot_correction: 0.0392699092626572 + vert_correction: -0.035978376865387 + dist_correction: 0.0599999986588955 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 50 + rot_correction: 0 + vert_correction: -0.0774680152535439 + dist_correction: 0.140000000596046 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 51 + rot_correction: 0.0305432621389627 + vert_correction: -0.0715404152870178 + dist_correction: 0.150000005960464 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 52 + rot_correction: 0.0855211317539215 + vert_correction: -0.0300500374287367 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 53 + rot_correction: 0.109083078801632 + vert_correction: -0.024120757356286 + dist_correction: 0.140000000596046 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 54 + rot_correction: 0.0698131695389748 + vert_correction: -0.0656133219599724 + dist_correction: 0.0799999982118607 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 55 + rot_correction: 0.104719758033752 + vert_correction: -0.0596865378320217 + dist_correction: 0.159999996423721 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 56 + rot_correction: -0.0610865242779255 + vert_correction: 0.0174280721694231 + dist_correction: 0.119999997317791 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 57 + rot_correction: -0.0349065847694874 + vert_correction: 0.0233724191784859 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 58 + rot_correction: -0.0785398185253143 + vert_correction: -0.0181903336197138 + dist_correction: 0.159999996423721 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 59 + rot_correction: -0.0471238903701305 + vert_correction: -0.0122585473582149 + dist_correction: 0.259999990463257 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 60 + rot_correction: 0.0104719763621688 + vert_correction: 0.0293195936828852 + dist_correction: 0.140000000596046 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 61 + rot_correction: 0.0349065847694874 + vert_correction: 0.0352698266506195 + dist_correction: 0.219999998807907 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 62 + rot_correction: -0.00436332309618592 + vert_correction: -0.00632520206272602 + dist_correction: 0.209999993443489 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 + - laser_id: 63 + rot_correction: 0.0296705979853868 + vert_correction: -0.000390077300835401 + dist_correction: 0.140000000596046 + two_pt_correction_available: false + dist_correction_x: 0 + dist_correction_y: 0 + vert_offset_correction: 0 + vert_offset_correction: 0 + max_intensity: 255 + min_intensity: 0 + focal_distance: 0 + focal_slope: 0 diff --git a/src/velodyne/velodyne_pointcloud/tests/angles.yaml b/src/velodyne/velodyne_pointcloud/tests/angles.yaml new file mode 100644 index 0000000..d58f492 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/angles.yaml @@ -0,0 +1,258 @@ +lasers: +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532, + vert_offset_correction: 0} +- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727, + vert_offset_correction: 0} +- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627, + vert_offset_correction: 0} +- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0, + rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359, + vert_offset_correction: 0} +- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0, + rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0, + rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293, + vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705, + vert_offset_correction: 0} +- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0, + rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742, + vert_offset_correction: 0} +- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0, + rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286, + vert_offset_correction: 0} +- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859, + vert_offset_correction: 0} +- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138, + vert_offset_correction: 0} +- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195, + vert_offset_correction: 0} +- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0, + rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401, + vert_offset_correction: 0} +- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0, + rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691, + vert_offset_correction: 0} +- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493, + vert_offset_correction: 0} +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0, + rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942, + vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0, + rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472, + vert_offset_correction: 0} +- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118, + vert_offset_correction: 0} +- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0, + rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853, + vert_offset_correction: 0} +- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0, + rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941, + vert_offset_correction: 0} +- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0, + rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0, + rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0, + rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323, + vert_offset_correction: 0} +- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752, + vert_offset_correction: 0} +- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733, + vert_offset_correction: 0} +- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0, + rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471, + vert_offset_correction: 0} +- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0, + rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795, + vert_offset_correction: 0} +- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0, + rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318, + vert_offset_correction: 0} +- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0, + rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522, + vert_offset_correction: 0} +- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0, + rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764, + vert_offset_correction: 0} +- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371, + vert_offset_correction: 0} +- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0, + rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531, + vert_offset_correction: 0} +- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0, + focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143, + two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0} +- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0, + rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213, + vert_offset_correction: 0} +- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0, + rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161, + vert_offset_correction: 0} +- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, + focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0, + rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902, + vert_offset_correction: 0} +num_lasers: 64 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/tests/empty.xml b/src/velodyne/velodyne_pointcloud/tests/empty.xml new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/empty.xml diff --git a/src/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml b/src/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml new file mode 100644 index 0000000..7ee045f --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml @@ -0,0 +1,240 @@ +# test data from an HDL-64E S2 containing float min_intensity values +# causes issue #84 failure +lasers: +- {dist_correction: 1.1897507, dist_correction_x: 1.2184412, dist_correction_y: 1.1993269, + focal_distance: 22.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 0, + min_intensity: 40.0, rot_correction: -0.08193448173487379, vert_correction: -0.12118950050089745, + vert_offset_correction: 0.21533014000000003} +- {dist_correction: 1.4128801999999998, dist_correction_x: 1.4313695000000002, dist_correction_y: 1.4312958, + focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, + laser_id: 1, min_intensity: 40.0, rot_correction: -0.04631400641637322, vert_correction: -0.1154246814722187, + vert_offset_correction: 0.21490976} +- {dist_correction: 1.352054, dist_correction_x: 1.3625516, dist_correction_y: 1.3604144, + focal_distance: 22.0, focal_slope: 1.15, horiz_offset_correction: 0.025999999, laser_id: 2, + min_intensity: 40.0, rot_correction: 0.05367805144003262, vert_correction: 0.007649359057937743, + vert_offset_correction: 0.20602308000000003} +- {dist_correction: 1.3877103, dist_correction_x: 1.4052618000000001, dist_correction_y: 1.4102048999999999, + focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 3, + min_intensity: 20.0, rot_correction: 0.09201863985105889, vert_correction: 0.01508908679395137, + vert_offset_correction: 0.20548805000000003} +- {dist_correction: 1.2740263, dist_correction_x: 1.2988675, dist_correction_y: 1.2487833000000002, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 4, + min_intensity: 10.0, rot_correction: -0.007693320585669901, vert_correction: -0.1102984033676868, + vert_offset_correction: 0.21453644000000002} +- {dist_correction: 1.2418116000000001, dist_correction_x: 1.252481, dist_correction_y: 1.2255676, + focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999, + laser_id: 5, min_intensity: 28.0, rot_correction: 0.032006458688310216, vert_correction: -0.10399361088436754, + vert_offset_correction: 0.21407784} +- {dist_correction: 1.3176793, dist_correction_x: 1.3353647000000002, dist_correction_y: 1.3361707999999999, + focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 6, + min_intensity: 40.0, rot_correction: -0.021861479338351635, vert_correction: -0.14544533071754853, + vert_offset_correction: 0.21710571} +- {dist_correction: 1.3708466000000001, dist_correction_x: 1.3905527000000002, dist_correction_y: 1.3970328, + focal_distance: 24.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 7, min_intensity: 40.0, rot_correction: 0.01761759781572604, vert_correction: -0.139035509555832, + vert_offset_correction: 0.21663536} +- {dist_correction: 1.2544352, dist_correction_x: 1.2857481000000002, dist_correction_y: 1.2282503, + focal_distance: 24.0, focal_slope: 1.22, horiz_offset_correction: 0.025999999, laser_id: 8, + min_intensity: 40.0, rot_correction: 0.06658719948349573, vert_correction: -0.09889517252673422, + vert_offset_correction: 0.21370745} +- {dist_correction: 1.3738158999999999, dist_correction_x: 1.3938158000000003, dist_correction_y: 1.3844524000000002, + focal_distance: 24.0, focal_slope: 1.15, horiz_offset_correction: -0.025999999, + laser_id: 9, min_intensity: 40.0, rot_correction: 0.10588806804896926, vert_correction: -0.09225143361201914, + vert_offset_correction: 0.21322533} +- {dist_correction: 1.3156921, dist_correction_x: 1.3354019, dist_correction_y: 1.2833449, + focal_distance: 24.0, focal_slope: 1.3200001, horiz_offset_correction: 0.025999999, + laser_id: 10, min_intensity: 40.0, rot_correction: 0.052778260906800954, vert_correction: -0.134421316289823, + vert_offset_correction: 0.2162973} +- {dist_correction: 1.3696194, dist_correction_x: 1.3846521, dist_correction_y: 1.3639107000000001, + focal_distance: 20.0, focal_slope: 1.25, horiz_offset_correction: -0.025999999, + laser_id: 11, min_intensity: 40.0, rot_correction: 0.09284370411236641, vert_correction: -0.12714737563412706, + vert_offset_correction: 0.21576523000000003} +- {dist_correction: 1.2275657, dist_correction_x: 1.2543072, dist_correction_y: 1.2294422, + focal_distance: 24.0, focal_slope: 1.0700001, horiz_offset_correction: 0.025999999, + laser_id: 12, min_intensity: 40.0, rot_correction: -0.08319450648038783, vert_correction: -0.0502394945048745, + vert_offset_correction: 0.21018864} +- {dist_correction: 1.3757889, dist_correction_x: 1.3849341999999998, dist_correction_y: 1.3686421000000002, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 13, + min_intensity: 40.0, rot_correction: -0.04344974309026683, vert_correction: -0.04379427282993976, + vert_offset_correction: 0.20972416} +- {dist_correction: 1.3319664, dist_correction_x: 1.3705452, dist_correction_y: 1.3209669, + focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 14, + min_intensity: 40.0, rot_correction: -0.09661677957860802, vert_correction: -0.08535601123784947, + vert_offset_correction: 0.21272558} +- {dist_correction: 1.3714989, dist_correction_x: 1.3624129999999999, dist_correction_y: 1.3403807, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 15, + min_intensity: 40.0, rot_correction: -0.056929933194385184, vert_correction: -0.07898063589425029, + vert_offset_correction: 0.21226404} +- {dist_correction: 1.2595838000000001, dist_correction_x: 1.2785926, dist_correction_y: 1.2370594, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 16, + min_intensity: 40.0, rot_correction: -0.008102055927068873, vert_correction: -0.03910078576535417, + vert_offset_correction: 0.20938608} +- {dist_correction: 1.3786241000000001, dist_correction_x: 1.3948055, dist_correction_y: 1.3862044, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 17, + min_intensity: 40.0, rot_correction: 0.03149012048240021, vert_correction: -0.03191447983673011, + vert_offset_correction: 0.20886870999999999} +- {dist_correction: 1.3628464, dist_correction_x: 1.3785178, dist_correction_y: 1.3152992000000001, + focal_distance: 20.5, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 18, + min_intensity: 10.0, rot_correction: -0.021944024685324706, vert_correction: -0.07495714058693254, + vert_offset_correction: 0.21197302} +- {dist_correction: 1.394641, dist_correction_x: 1.3899173999999999, dist_correction_y: 1.370442, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 19, + min_intensity: 10.0, rot_correction: 0.01766883719190609, vert_correction: -0.06771695808962866, + vert_offset_correction: 0.21144976000000001} +- {dist_correction: 1.2123122, dist_correction_x: 1.2413981, dist_correction_y: 1.2070784, + focal_distance: 23.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20, + min_intensity: 5.0, rot_correction: 0.06651143299533739, vert_correction: -0.027462144914892576, + vert_offset_correction: 0.20854828000000003} +- {dist_correction: 1.2599731, dist_correction_x: 1.2764229, dist_correction_y: 1.2986679, + focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 21, + min_intensity: 5.0, rot_correction: 0.10511566735251142, vert_correction: -0.020434314882349612, + vert_offset_correction: 0.20804264} +- {dist_correction: 1.3053941, dist_correction_x: 1.3411044, dist_correction_y: 1.2835222, + focal_distance: 24.0, focal_slope: 1.42, horiz_offset_correction: 0.025999999, laser_id: 22, + min_intensity: 30.0, rot_correction: 0.052657269447064954, vert_correction: -0.06262826041455072, + vert_offset_correction: 0.21108229} +- {dist_correction: 1.2550185, dist_correction_x: 1.2702521, dist_correction_y: 1.2836005000000001, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 23, + min_intensity: 40.0, rot_correction: 0.09175727679557273, vert_correction: -0.05606926072567847, + vert_offset_correction: 0.21060900000000002} +- {dist_correction: 1.2748341, dist_correction_x: 1.3196121, dist_correction_y: 1.2784751, + focal_distance: 20.5, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 24, + min_intensity: 10.0, rot_correction: -0.08344753035270795, vert_correction: 0.020524792750772996, + vert_offset_correction: 0.20509708000000001} +- {dist_correction: 1.3777713, dist_correction_x: 1.3645123000000001, dist_correction_y: 1.3802203, + focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 25, + max_intensity: 230.0, rot_correction: -0.04351660490858147, vert_correction: 0.02702150163864157, + vert_offset_correction: 0.20462966999999999} +- {dist_correction: 1.3718602000000002, dist_correction_x: 1.4046102999999999, dist_correction_y: 1.3834868, + focal_distance: 19.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 26, + max_intensity: 245.0, rot_correction: -0.09689230074498635, vert_correction: -0.014916840599137901, + vert_offset_correction: 0.2076458} +- {dist_correction: 1.3833778, dist_correction_x: 1.375231, dist_correction_y: 1.3606032, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 27, + max_intensity: 240.0, rot_correction: -0.057451870416535586, vert_correction: -0.00817206789015045, + vert_offset_correction: 0.20716073999999998} +- {dist_correction: 1.2951183000000002, dist_correction_x: 1.3258408, dist_correction_y: 1.2997318999999998, + focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 28, + max_intensity: 240.0, rot_correction: -0.008271954654038412, vert_correction: 0.032168250709970085, + vert_offset_correction: 0.20425926} +- {dist_correction: 1.4026823, dist_correction_x: 1.4151775000000002, dist_correction_y: 1.4065117, + focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: -0.025999999, + laser_id: 29, rot_correction: 0.03059445241686176, vert_correction: 0.03821143404637868, + vert_offset_correction: 0.2038242} +- {dist_correction: 1.3756502000000002, dist_correction_x: 1.3986545000000001, dist_correction_y: 1.3567966000000002, + focal_distance: 24.0, focal_slope: 1.37, horiz_offset_correction: 0.025999999, laser_id: 30, + rot_correction: -0.022168507188386963, vert_correction: -0.003020972948984465, vert_offset_correction: 0.20679033000000002} +- {dist_correction: 1.4303774999999999, dist_correction_x: 1.4219699000000001, dist_correction_y: 1.4110721000000002, + focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999, + laser_id: 31, rot_correction: 0.017020332183059567, vert_correction: 0.0032341127317709376, + vert_offset_correction: 0.20634056} +- {dist_correction: 1.2299187999999999, dist_correction_x: 1.221242, dist_correction_y: 1.159202, + focal_distance: 12.8, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 32, + rot_correction: -0.13428924897065386, vert_correction: -0.3917846862503118, vert_offset_correction: 0.15982219} +- {dist_correction: 1.3144859, dist_correction_x: 1.3336081, dist_correction_y: 1.3461792, + focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: -0.025999999, + laser_id: 33, rot_correction: -0.07421947892390637, vert_correction: -0.3836205247016729, + vert_offset_correction: 0.15923027} +- {dist_correction: 1.2725937999999999, dist_correction_x: 1.2842772, dist_correction_y: 1.3025389, + focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999, + laser_id: 34, rot_correction: 0.08138446391038806, vert_correction: -0.1992609420279063, + vert_offset_correction: 0.14669841} +- {dist_correction: 1.3357777, dist_correction_x: 1.3343283, dist_correction_y: 1.3631558000000001, + focal_distance: 9.0, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 35, + rot_correction: 0.1383208914749199, vert_correction: -0.18701489169116567, vert_offset_correction: 0.14590834} +- {dist_correction: 1.1742934, dist_correction_x: 1.2244499, dist_correction_y: 1.1818057, + focal_distance: 10.8, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 36, + rot_correction: -0.013445351586919306, vert_correction: -0.37738235143590226, vert_offset_correction: 0.15878062} +- {dist_correction: 1.090762, dist_correction_x: 1.1042352, dist_correction_y: 1.0975322, + focal_distance: 12.5, focal_slope: 1.55, horiz_offset_correction: -0.025999999, + laser_id: 37, rot_correction: 0.04734804593033903, vert_correction: -0.3673083633532685, + vert_offset_correction: 0.15805914} +- {dist_correction: 1.2801097, dist_correction_x: 1.2734876, dist_correction_y: 1.2697346, + focal_distance: 6.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38, + rot_correction: -0.03680020095578886, vert_correction: -0.4294796616630621, vert_offset_correction: 0.16260902000000002} +- {dist_correction: 1.2865338, dist_correction_x: 1.2686511, dist_correction_y: 1.29416, + focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 39, + rot_correction: 0.025992554995433074, vert_correction: -0.42099842614921335, vert_offset_correction: 0.16197392000000002} +- {dist_correction: 1.2932777, dist_correction_x: 1.3400191000000001, dist_correction_y: 1.3263618, + focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: 0.025999999, laser_id: 40, + rot_correction: 0.10601307725664336, vert_correction: -0.3565455112681652, vert_offset_correction: 0.15729448} +- {dist_correction: 1.2614787, dist_correction_x: 1.2626826, dist_correction_y: 1.267609, + focal_distance: 8.5, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 41, + rot_correction: 0.16733068965072595, vert_correction: -0.3479014190818128, vert_offset_correction: 0.15668478} +- {dist_correction: 1.2428966, dist_correction_x: 1.2460679000000001, dist_correction_y: 1.2397518, + focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 42, + rot_correction: 0.08594727468321833, vert_correction: -0.4110102035460227, vert_offset_correction: 0.16123213} +- {dist_correction: 1.3061783, dist_correction_x: 1.2655383, dist_correction_y: 1.2857359, + focal_distance: 10.0, focal_slope: 1.6799999, horiz_offset_correction: -0.025999999, + laser_id: 43, rot_correction: 0.1464050331680134, vert_correction: -0.4015579191962419, + vert_offset_correction: 0.16053604} +- {dist_correction: 1.2317036000000001, dist_correction_x: 1.2393882, dist_correction_y: 1.2123593, + focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 44, + rot_correction: -0.13261467013054762, vert_correction: -0.2838808920696538, vert_offset_correction: 0.1522797} +- {dist_correction: 1.2567677000000002, dist_correction_x: 1.2904861, dist_correction_y: 1.2915567, + focal_distance: 0.25, focal_slope: 0.47999999, horiz_offset_correction: -0.025999999, + laser_id: 45, rot_correction: -0.07009130400404175, vert_correction: -0.276291415083819, + vert_offset_correction: 0.15176907} +- {dist_correction: 1.2793438000000001, dist_correction_x: 1.2915629999999998, dist_correction_y: 1.2718159, + focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 46, + rot_correction: -0.15533259824081613, vert_correction: -0.33574467724289675, vert_offset_correction: 0.15583374} +- {dist_correction: 1.2330788, dist_correction_x: 1.2624972, dist_correction_y: 1.2636649, + focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 47, rot_correction: -0.09347288483573485, vert_correction: -0.3300846093852642, + vert_offset_correction: 0.15543998} +- {dist_correction: 1.1445625, dist_correction_x: 1.2045525000000001, dist_correction_y: 1.1558383, + focal_distance: 23.2, focal_slope: 0.75, horiz_offset_correction: 0.025999999, laser_id: 48, + rot_correction: -0.014086204897792162, vert_correction: -0.2692770589931014, vert_offset_correction: 0.15129910000000002} +- {dist_correction: 1.2741866, dist_correction_x: 1.2946111, dist_correction_y: 1.2808211, + focal_distance: 18.0, focal_slope: 0.92000002, horiz_offset_correction: -0.025999999, + laser_id: 49, rot_correction: 0.04602459591980752, vert_correction: -0.25952585210233153, + vert_offset_correction: 0.15064875} +- {dist_correction: 1.2584636, dist_correction_x: 1.2985907, dist_correction_y: 1.2481342, + focal_distance: 15.8, focal_slope: 1.28, horiz_offset_correction: 0.025999999, laser_id: 50, + rot_correction: -0.035928232716163244, vert_correction: -0.3234839312338543, vert_offset_correction: 0.1549827} +- {dist_correction: 1.1207238, dist_correction_x: 1.1458776000000002, dist_correction_y: 1.1290197000000002, + focal_distance: 18.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, + laser_id: 51, rot_correction: 0.025398581053735863, vert_correction: -0.3141198558244693, + vert_offset_correction: 0.15433743} +- {dist_correction: 1.3357715, dist_correction_x: 1.3748308, dist_correction_y: 1.3750087, + focal_distance: 2.2, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999, + laser_id: 52, rot_correction: 0.10206324357040601, vert_correction: -0.2503763474711867, + vert_offset_correction: 0.15004159} +- {dist_correction: 1.2831325000000002, dist_correction_x: 1.2906917000000002, dist_correction_y: 1.3047183000000002, + focal_distance: 8.2, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 53, + rot_correction: 0.16118048446991431, vert_correction: -0.2388694789792507, vert_offset_correction: 0.14928201} +- {dist_correction: 1.4319325, dist_correction_x: 1.470513, dist_correction_y: 1.4623492, + focal_distance: 6.0, focal_slope: 0.51999998, horiz_offset_correction: 0.025999999, + laser_id: 54, rot_correction: 0.08241589764778065, vert_correction: -0.30499605989320633, + vert_offset_correction: 0.15371249} +- {dist_correction: 1.2852434, dist_correction_x: 1.2985229, dist_correction_y: 1.271758, + focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55, + rot_correction: 0.142266131454566, vert_correction: -0.2947717466020984, vert_offset_correction: 0.15301642} +- {dist_correction: 1.4007397000000001, dist_correction_x: 1.4001398, dist_correction_y: 1.3912132, + focal_distance: 8.5, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 56, + rot_correction: -0.12786652808043583, vert_correction: -0.17641617036891985, vert_offset_correction: 0.14522751} +- {dist_correction: 1.2880724000000001, dist_correction_x: 1.3014014, dist_correction_y: 1.3205367000000001, + focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 57, + rot_correction: -0.07017803115990259, vert_correction: -0.17070459784506095, vert_offset_correction: 0.14486169000000002} +- {dist_correction: 1.4760434, dist_correction_x: 1.4308182, dist_correction_y: 1.4627808, + focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 58, + rot_correction: -0.15113763829712393, vert_correction: -0.2281125435603116, vert_offset_correction: 0.14857577} +- {dist_correction: 1.303936, dist_correction_x: 1.3230009, dist_correction_y: 1.3335196, + focal_distance: 0.25, focal_slope: 0.64999998, horiz_offset_correction: -0.025999999, + laser_id: 59, rot_correction: -0.0918767934520908, vert_correction: -0.2232191988430801, + vert_offset_correction: 0.14825568} +- {dist_correction: 1.3472046, dist_correction_x: 1.3541069, dist_correction_y: 1.3651146, + focal_distance: 3.5, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 60, + rot_correction: -0.013572408240338915, vert_correction: -0.16291245497181386, vert_offset_correction: 0.14436376} +- {dist_correction: 1.3001047000000001, dist_correction_x: 1.3096320000000001, dist_correction_y: 1.3519560000000002, + focal_distance: 3.5, focal_slope: 1.35, horiz_offset_correction: -0.025999999, laser_id: 61, + rot_correction: 0.04349449333228796, vert_correction: -0.1540625535600664, vert_offset_correction: 0.14379979} +- {dist_correction: 1.2880972, dist_correction_x: 1.2842999000000002, dist_correction_y: 1.2916876, + focal_distance: 12.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 62, + rot_correction: -0.03466167345792974, vert_correction: -0.21484439350701803, vert_offset_correction: 0.14770949} +- {dist_correction: 1.3186316, dist_correction_x: 1.3250179, dist_correction_y: 1.3431560999999999, + focal_distance: 10.5, focal_slope: 0.60000002, horiz_offset_correction: -0.025999999, + laser_id: 63, rot_correction: 0.02351688573662471, vert_correction: -0.20683046990039078, + vert_offset_correction: 0.14718871} +num_lasers: 64 +distance_resolution: 0.002 diff --git a/src/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch b/src/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch new file mode 100644 index 0000000..9675aea --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/test_calibration.cpp b/src/velodyne/velodyne_pointcloud/tests/test_calibration.cpp new file mode 100644 index 0000000..945b638 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/test_calibration.cpp @@ -0,0 +1,191 @@ +// Copyright (C) 2012, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley +// All rights reserved. +// +// Software License Agreement (BSD License 2.0) +// +// 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 {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 OWNER 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. + +#include + +#include +#include + +#include + +using namespace velodyne_pointcloud; // NOLINT + +std::string get_package_path() +{ + std::string g_package_name("velodyne_pointcloud"); + return ros::package::getPath(g_package_name); +} + +/////////////////////////////////////////////////////////////// +// Test cases +/////////////////////////////////////////////////////////////// + +TEST(Calibration, missing_file) +{ + Calibration calibration(false); + calibration.read("./no_such_file.yaml"); + EXPECT_FALSE(calibration.initialized); +} + +TEST(Calibration, vlp16) +{ + Calibration calibration(get_package_path() + "/params/VLP16db.yaml", false); + EXPECT_TRUE(calibration.initialized); + ASSERT_EQ(calibration.num_lasers, 16); + + // check some values for the first laser: + LaserCorrection laser = calibration.laser_corrections[0]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.2617993877991494); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); + + // check similar values for the last laser: + laser = calibration.laser_corrections[15]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, 0.2617993877991494); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); +} + +TEST(Calibration, hdl32e) +{ + Calibration calibration(get_package_path() + "/params/32db.yaml", false); + EXPECT_TRUE(calibration.initialized); + ASSERT_EQ(calibration.num_lasers, 32); + + // check some values for the first laser: + LaserCorrection laser = calibration.laser_corrections[0]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.5352924815866609); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); + + // check similar values for the last laser: + laser = calibration.laser_corrections[31]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, 0.18622663118779495); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); +} + +TEST(Calibration, hdl64e) +{ + Calibration calibration(get_package_path() + "/params/64e_utexas.yaml", false); + EXPECT_TRUE(calibration.initialized); + ASSERT_EQ(calibration.num_lasers, 64); + + // check some values for the first laser: + LaserCorrection laser = calibration.laser_corrections[0]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.124932751059532); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); + + // check similar values for the last laser: + laser = calibration.laser_corrections[63]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.209881335496902); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); +} + +TEST(Calibration, hdl64e_s21) +{ + Calibration calibration(get_package_path() + "/params/64e_s2.1-sztaki.yaml", + false); + EXPECT_TRUE(calibration.initialized); + ASSERT_EQ(calibration.num_lasers, 64); + + // check some values for the first laser: + LaserCorrection laser = calibration.laser_corrections[0]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.15304134919741974); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); + EXPECT_EQ(laser.max_intensity, 235); + EXPECT_EQ(laser.min_intensity, 30); + + // check similar values for the last laser: + laser = calibration.laser_corrections[63]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.2106649408137298); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); +} + +TEST(Calibration, hdl64e_s2_float_intensities) +{ + Calibration calibration(get_package_path() + + "/tests/issue_84_float_intensities.yaml", + false); + EXPECT_TRUE(calibration.initialized); + ASSERT_EQ(calibration.num_lasers, 64); + + // check some values for the first laser: + LaserCorrection laser = calibration.laser_corrections[0]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.12118950050089745); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 40); + + // check similar values for laser 26: + laser = calibration.laser_corrections[26]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.014916840599137901); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); + EXPECT_EQ(laser.max_intensity, 245); + EXPECT_EQ(laser.min_intensity, 0); + + // check similar values for the last laser: + laser = calibration.laser_corrections[63]; + EXPECT_FALSE(laser.two_pt_correction_available); + EXPECT_FLOAT_EQ(laser.vert_correction, -0.20683046990039078); + EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999); + EXPECT_EQ(laser.max_intensity, 255); + EXPECT_EQ(laser.min_intensity, 0); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + diff --git a/src/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml b/src/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml new file mode 100644 index 0000000..e1a72e4 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml @@ -0,0 +1,906 @@ + + + + + + 64 + 1 + + + 0 + -5.3328056 + -7.2988362 + 111 + 118 + 118 + 19.736338 + 2.5999999 + 0 + 0 + + + + + 1 + -3.2344019 + -6.9644198 + 146 + 149 + 151 + 19.778963 + -2.5999999 + 0 + 0 + + + + + 2 + 2.4376695 + 0.250889 + 131.76823 + 136 + 136 + 20.688799 + 2.5999999 + 0 + 0 + + + + + 3 + 4.7373252 + 0.55538797 + 138.12656 + 142 + 144 + 20.727015 + -2.5999999 + 0 + 0 + + + + + 4 + -1.0502493 + -6.6410818 + 119 + 127 + 128 + 19.82012 + 2.5999999 + 0 + 0 + + + + + 5 + 1.2386309 + -6.2594609 + 135 + 140 + 144 + 19.868624 + -2.5999999 + 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12.426669 + -2.5999999 + 0 + 0 + + + + + 62 + -2.5727935 + -12.651329 + 134 + 135 + 134 + 12.020203 + 2.5999999 + 0 + 0 + + + + + 63 + 0.81118912 + -12.115005 + 104 + 107 + 112 + 12.081173 + -2.5999999 + 0 + 0 + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_node_32e_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_node_32e_hz.test new file mode 100644 index 0000000..bafb8a7 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_node_32e_hz.test @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_node_64e_s2.1_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_node_64e_s2.1_hz.test new file mode 100644 index 0000000..088cfb6 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_node_64e_s2.1_hz.test @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_node_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_node_hz.test new file mode 100644 index 0000000..631121f --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_node_hz.test @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_node_vlp16_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_node_vlp16_hz.test new file mode 100644 index 0000000..75c2943 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_node_vlp16_hz.test @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_32e_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_32e_hz.test new file mode 100644 index 0000000..f10661b --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_32e_hz.test @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_64e_s2.1_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_64e_s2.1_hz.test new file mode 100644 index 0000000..63dbc1a --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_64e_s2.1_hz.test @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test new file mode 100644 index 0000000..14d7a6b --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_vlp16_hz.test b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_vlp16_hz.test new file mode 100644 index 0000000..2339dda --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/transform_nodelet_vlp16_hz.test @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test b/src/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test new file mode 100644 index 0000000..3218dd8 --- /dev/null +++ b/src/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/startup.sh b/startup.sh new file mode 100755 index 0000000..6f0157b --- /dev/null +++ b/startup.sh @@ -0,0 +1,72 @@ +#!/bin/bash +/usr/sbin/sshd -D & +if [ -n "$VNC_PASSWORD" ]; then + echo -n "$VNC_PASSWORD" > /.password1 + x11vnc -storepasswd $(cat /.password1) /.password2 + chmod 400 /.password* + sed -i 's/^command=x11vnc.*/& -rfbauth \/.password2/' /etc/supervisor/conf.d/supervisord.conf + export VNC_PASSWORD= +fi + +if [ -n "$X11VNC_ARGS" ]; then + sed -i "s/^command=x11vnc.*/& ${X11VNC_ARGS}/" /etc/supervisor/conf.d/supervisord.conf +fi + +if [ -n "$OPENBOX_ARGS" ]; then + sed -i "s#^command=/usr/bin/openbox.*#& ${OPENBOX_ARGS}#" /etc/supervisor/conf.d/supervisord.conf +fi + +if [ -n "$RESOLUTION" ]; then + sed -i "s/1024x768/$RESOLUTION/" /usr/local/bin/xvfb.sh +fi + +USER=${USER:-root} +HOME=/root +if [ "$USER" != "root" ]; then + echo "* enable custom user: $USER" + useradd --create-home --shell /bin/bash --user-group --groups adm,sudo $USER + if [ -z "$PASSWORD" ]; then + echo " set default password to \"ubuntu\"" + PASSWORD=ubuntu + fi + HOME=/home/$USER + echo "$USER:$PASSWORD" | chpasswd + cp -r /root/{.gtkrc-2.0,.asoundrc} ${HOME} + [ -d "/dev/snd" ] && chgrp -R adm /dev/snd +fi +sed -i -e "s|%USER%|$USER|" -e "s|%HOME%|$HOME|" /etc/supervisor/conf.d/supervisord.conf + +# home folder +mkdir -p $HOME/.config/pcmanfm/LXDE/ +ln -sf /usr/local/share/doro-lxde-wallpapers/desktop-items-0.conf $HOME/.config/pcmanfm/LXDE/ +chown -R $USER:$USER $HOME + +# nginx workers +sed -i 's|worker_processes .*|worker_processes 1;|' /etc/nginx/nginx.conf + +# nginx ssl +if [ -n "$SSL_PORT" ] && [ -e "/etc/nginx/ssl/nginx.key" ]; then + echo "* enable SSL" + sed -i 's|#_SSL_PORT_#\(.*\)443\(.*\)|\1'$SSL_PORT'\2|' /etc/nginx/sites-enabled/default + sed -i 's|#_SSL_PORT_#||' /etc/nginx/sites-enabled/default +fi + +# nginx http base authentication +if [ -n "$HTTP_PASSWORD" ]; then + echo "* enable HTTP base authentication" + htpasswd -bc /etc/nginx/.htpasswd $USER $HTTP_PASSWORD + sed -i 's|#_HTTP_PASSWORD_#||' /etc/nginx/sites-enabled/default +fi + +# dynamic prefix path renaming +if [ -n "$RELATIVE_URL_ROOT" ]; then + echo "* enable RELATIVE_URL_ROOT: $RELATIVE_URL_ROOT" + sed -i 's|#_RELATIVE_URL_ROOT_||' /etc/nginx/sites-enabled/default + sed -i 's|_RELATIVE_URL_ROOT_|'$RELATIVE_URL_ROOT'|' /etc/nginx/sites-enabled/default +fi + +# clearup +PASSWORD= +HTTP_PASSWORD= + +exec /bin/tini -- /usr/bin/supervisord -n -c /etc/supervisor/supervisord.conf