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fix core dumped err when loadplugin

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duongtd
2025-12-01 17:34:23 +07:00
parent 2439f2a71d
commit 11ff1baa79
34 changed files with 1177 additions and 760 deletions
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215
plugins/obstacle_layer.cpp Normal file → Executable file
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@@ -1,11 +1,49 @@
/*********************************************************************
*
* 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 <costmap_2d/obstacle_layer.h>
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/utils.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
#include <tf3/exceptions.h>
#include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
@@ -27,91 +65,103 @@ void ObstacleLayer::onInitialize()
getParams();
}
ObstacleLayer::~ObstacleLayer()
{}
bool ObstacleLayer::getParams()
{
try {
YAML::Node config = YAML::LoadFile("/home/duongtd/robotics_core/costmap_2d/config/config.yaml");
YAML::Node layer = config["obstacle_layer"];
bool track_unknown_space = loadParam(layer, "track_unknown_space", layered_costmap_->isTrackingUnknown());
if (track_unknown_space)
default_value_ = NO_INFORMATION;
else
default_value_ = FREE_SPACE;
double transform_tolerance = loadParam(layer,"transform_tolerance", 0.2);
// get the topics that we'll subscribe to from the parameter server
std::string topics_string = loadParam(layer,"observation_sources", std::string(""));
printf(" Subscribed to Topics: %s\n", topics_string.c_str());
// get the parameters for the specific topic
double observation_keep_time = 0, expected_update_rate = 0, min_obstacle_height = 0, max_obstacle_height = 2;
std::string topic = "map", sensor_frame = "laser_frame", data_type = "PointCloud";
bool inf_is_valid = false, clearing=false, marking=true;
topic = loadParam(layer,"topic", topic);
sensor_frame = loadParam(layer,"sensor_frame", std::string(""));
observation_keep_time = loadParam(layer,"observation_persistence", 0.0);
expected_update_rate = loadParam(layer,"expected_update_rate", 0.0);
data_type = loadParam(layer,"data_type", std::string("PointCloud"));
min_obstacle_height = loadParam(layer,"min_obstacle_height", 0.0);
max_obstacle_height = loadParam(layer,"max_obstacle_height", 2.0);
inf_is_valid = loadParam(layer,"inf_is_valid", false);
clearing = loadParam(layer,"clearing", false);
marking = loadParam(layer,"marking", true);
if (!(data_type == "PointCloud2" || data_type == "PointCloud" || data_type == "LaserScan"))
try {
std::string config_file_name = "config.yaml";
std::string folder = COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
if(path_source != " ")
{
printf("Only topics that use point clouds or laser scans are currently supported\n");
throw std::runtime_error("Only topics that use point clouds or laser scans are currently supported");
std::cout << "Path source: " << path_source << std::endl;
}
else
{
std::cout << "/cfg folder not found!" << std::endl;
}
std::string raytrace_range_param_name, obstacle_range_param_name;
YAML::Node config = YAML::LoadFile(path_source);
YAML::Node layer = config["obstacle_layer"];
double obstacle_range = 2.5;
obstacle_range = loadParam(layer,"obstacle_range", obstacle_range);
double raytrace_range = 3.0;
raytrace_range = loadParam(layer,"raytrace_range", raytrace_range);
bool track_unknown_space = loadParam(layer, "track_unknown_space", layered_costmap_->isTrackingUnknown());
if (track_unknown_space)
default_value_ = NO_INFORMATION;
else
default_value_ = FREE_SPACE;
double transform_tolerance = loadParam(layer,"transform_tolerance", 0.2);
// get the topics that we'll subscribe to from the parameter server
std::string topics_string = loadParam(layer,"observation_sources", std::string(""));
printf(" Subscribed to Topics: %s\n", topics_string.c_str());
bool footprint_clearing_enabled = loadParam(layer, "footprint_clearing_enabled", true);
int combination_method = loadParam(layer, "combination_method", 1);
// enabled_ = enabled;
footprint_clearing_enabled_ = footprint_clearing_enabled;
max_obstacle_height_ = max_obstacle_height;
combination_method_ = combination_method;
printf("Creating an observation buffer for topic %s, frame %s\n", 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)));
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());
printf(
"Created an observation buffer for topic %s, global frame: %s, "
"expected update rate: %.2f, observation persistence: %.2f\n",
topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time);
}
catch (const YAML::BadFile& e) {
std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
return false;
// get the parameters for the specific topic
double observation_keep_time = 0, expected_update_rate = 0, min_obstacle_height = 0, max_obstacle_height = 2;
std::string topic = "map", sensor_frame = "laser_frame", data_type = "PointCloud";
bool inf_is_valid = false, clearing=false, marking=true;
topic = loadParam(layer,"topic", topic);
sensor_frame = loadParam(layer,"sensor_frame", std::string(""));
observation_keep_time = loadParam(layer,"observation_persistence", 0.0);
expected_update_rate = loadParam(layer,"expected_update_rate", 0.0);
data_type = loadParam(layer,"data_type", std::string("PointCloud"));
min_obstacle_height = loadParam(layer,"min_obstacle_height", 0.0);
max_obstacle_height = loadParam(layer,"max_obstacle_height", 2.0);
inf_is_valid = loadParam(layer,"inf_is_valid", false);
clearing = loadParam(layer,"clearing", false);
marking = loadParam(layer,"marking", true);
if (!(data_type == "PointCloud2" || data_type == "PointCloud" || data_type == "LaserScan"))
{
printf("Only topics that use point clouds or laser scans are currently supported\n");
throw std::runtime_error("Only topics that use point clouds or laser scans are currently supported");
}
return true;
std::string raytrace_range_param_name, obstacle_range_param_name;
double obstacle_range = 2.5;
obstacle_range = loadParam(layer,"obstacle_range", obstacle_range);
double raytrace_range = 3.0;
raytrace_range = loadParam(layer,"raytrace_range", raytrace_range);
bool footprint_clearing_enabled = loadParam(layer, "footprint_clearing_enabled", true);
int combination_method = loadParam(layer, "combination_method", 1);
// enabled_ = enabled;
footprint_clearing_enabled_ = footprint_clearing_enabled;
max_obstacle_height_ = max_obstacle_height;
combination_method_ = combination_method;
printf("Creating an observation buffer for topic %s, frame %s\n", 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)));
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());
printf(
"Created an observation buffer for topic %s, global frame: %s, "
"expected update rate: %.2f, observation persistence: %.2f\n",
topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time);
}
catch (const YAML::BadFile& e) {
std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
return false;
}
return true;
}
void ObstacleLayer::handleImpl(const void* data,
@@ -121,7 +171,7 @@ void ObstacleLayer::handleImpl(const void* data,
if(!stop_receiving_data_)
{
if(observation_buffers_.empty()) return;
boost::shared_ptr<costmap_2d::ObservationBuffer> buffer = observation_buffers_.back();
boost::shared_ptr<ObservationBuffer> buffer = observation_buffers_.back();
if (type == typeid(sensor_msgs::LaserScan) && topic == "laser") {
laserScanCallback(*static_cast<const sensor_msgs::LaserScan*>(data), buffer);
} else if (type == typeid(sensor_msgs::LaserScan) && topic == "laser_valid") {
@@ -141,13 +191,12 @@ void ObstacleLayer::handleImpl(const void* data,
}
}
void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScan& message,
void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScan& message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// project the laser into a point cloud
sensor_msgs::PointCloud2 cloud;
cloud.header = message.header;
// printf("TEST PLUGIN OBSTACLE!!!\n");
// project the scan into a point cloud
try
@@ -172,10 +221,9 @@ void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScan& message,
buffer->unlock();
}
void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScan& raw_message,
void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScan& raw_message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// printf("TEST PLUGIN OBSTACLE 2!!!\n");
// Filter positive infinities ("Inf"s) to max_range.
float epsilon = 0.0001; // a tenth of a millimeter
sensor_msgs::LaserScan message = raw_message;
@@ -216,9 +264,8 @@ void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScan& raw_
}
void ObstacleLayer::pointCloudCallback(const sensor_msgs::PointCloud& message,
const boost::shared_ptr<ObservationBuffer>& buffer)
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// printf("TEST PLUGIN OBSTACLE 3!!!\n");
sensor_msgs::PointCloud2 cloud2;
if (!sensor_msgs::convertPointCloudToPointCloud2(message, cloud2))
@@ -516,11 +563,11 @@ void ObstacleLayer::reset()
}
// Export factory function
static PluginLayerPtr create_obstacle_plugin() {
static std::shared_ptr<Layer> create_obstacle_plugin() {
return std::make_shared<ObstacleLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_obstacle_plugin, create_plugin)
BOOST_DLL_ALIAS(create_obstacle_plugin, create_obstacle_layer)
} // namespace costmap_2d