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update from DuongTD

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This commit is contained in:
HiepLM 2026-01-08 10:35:27 +07:00
parent f052dac142
commit 384897b750
15 changed files with 110 additions and 13 deletions
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6
include/robot_costmap_2d/critical_layer.h
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@ -10,6 +10,12 @@ class CriticalLayer : public StaticLayer
public:
CriticalLayer();
virtual ~CriticalLayer();
LayerType getType() const override
{
return LayerType::CRITICAL_LAYER;
}
private:
unsigned char interpretValue(unsigned char value) override;
void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;

5
include/robot_costmap_2d/directional_layer.h
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@ -14,6 +14,11 @@ namespace robot_costmap_2d
bool laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan);
void resetMap();
LayerType getType() const override
{
return LayerType::DIRECTIONAL_LAYER;
}
private:
void incomingMap(const robot_nav_msgs::OccupancyGrid &new_map);
bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path);

5
include/robot_costmap_2d/inflation_layer.h
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@ -120,6 +120,11 @@ public:
*/
void setInflationParameters(double inflation_radius, double cost_scaling_factor);
LayerType getType() const override
{
return LayerType::INFLATION_LAYER;
}
protected:
virtual void onFootprintChanged();
boost::recursive_mutex* inflation_access_;

17
include/robot_costmap_2d/layer.h
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@ -45,6 +45,20 @@
#include <robot/node_handle.h>
namespace robot_costmap_2d
{
enum class LayerType
{
UNKNOWN,
STATIC_LAYER,
OBSTACLE_LAYER,
INFLATION_LAYER,
CRITICAL_LAYER,
DIRECTIONAL_LAYER,
PREFERRED_LAYER,
UNPREFERRED_LAYER,
VOXEL_LAYER
};
class LayeredCostmap;
class Layer
@ -134,6 +148,9 @@ public:
void dataCallBack(const T& value, const std::string& topic) {
handle(value, topic);
}
virtual LayerType getType() const { return LayerType::UNKNOWN; }
protected:
// Hàm template public, dùng để gửi dữ liệu

6
include/robot_costmap_2d/obstacle_layer.h
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@ -57,6 +57,7 @@ namespace robot_costmap_2d
{
struct CallBackInfo
{
std::string observation_source;
std::string data_type;
std::string topic;
bool inf_is_valid;
@ -84,6 +85,11 @@ public:
void addStaticObservation(robot_costmap_2d::Observation& obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing);
LayerType getType() const override
{
return LayerType::OBSTACLE_LAYER;
}
protected:
void handleImpl(const void* data,
const std::type_info&,

6
include/robot_costmap_2d/preferred_layer.h
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@ -10,6 +10,12 @@ class PreferredLayer : public StaticLayer
public:
PreferredLayer();
virtual ~PreferredLayer();
LayerType getType() const override
{
return LayerType::PREFERRED_LAYER;
}
private:
unsigned char interpretValue(unsigned char value);
};

6
include/robot_costmap_2d/static_layer.h
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@ -63,6 +63,12 @@ public:
virtual void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void matchSize();
LayerType getType() const override
{
return LayerType::STATIC_LAYER;
}
protected:
void handleImpl(const void* data,
const std::type_info& type,

5
include/robot_costmap_2d/unpreferred_layer.h
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@ -11,6 +11,11 @@ public:
UnPreferredLayer();
virtual ~UnPreferredLayer();
LayerType getType() const override
{
return LayerType::UNPREFERRED_LAYER;
}
private:
unsigned char interpretValue(unsigned char value);

4
include/robot_costmap_2d/voxel_layer.h
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@ -77,6 +77,10 @@ public:
virtual void matchSize();
virtual void reset();
LayerType getType() const override
{
return LayerType::VOXEL_LAYER;
}
protected:

1
plugins/inflation_layer.cpp
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@ -198,6 +198,7 @@ void InflationLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int m
return;
// make sure the inflation list is empty at the beginning of the cycle (should always be true)
if(!inflation_cells_.empty())
printf("The inflation list must be empty at the beginning of inflation\n");
unsigned char* master_array = master_grid.getCharMap();

16
plugins/obstacle_layer.cpp
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@ -165,6 +165,7 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
}
CallBackInfo info_tmp;
info_tmp.observation_source = source;
info_tmp.data_type = data_type;
info_tmp.topic = topic;
info_tmp.inf_is_valid = inf_is_valid;
@ -237,6 +238,8 @@ void ObstacleLayer::handleImpl(const void* data,
topic == callback_infos_[i].topic &&
!callback_infos_[i].inf_is_valid)
{
// if(topic == "/f_scan") robot::log_error("DATA front laser! %d",i);
// if(topic == "/b_scan") robot::log_error("DATA back laser! %d",i);
laserScanCallback(*static_cast<const robot_sensor_msgs::LaserScan*>(data), buffer);
}
else if (type == typeid(robot_sensor_msgs::LaserScan) &&
@ -244,6 +247,7 @@ void ObstacleLayer::handleImpl(const void* data,
topic == callback_infos_[i].topic &&
callback_infos_[i].inf_is_valid)
{
laserScanValidInfCallback(*static_cast<const robot_sensor_msgs::LaserScan*>(data), buffer);
}
else if (type == typeid(robot_sensor_msgs::PointCloud) &&
@ -266,10 +270,14 @@ void ObstacleLayer::handleImpl(const void* data,
}
pointCloud2Callback(*static_cast<const robot_sensor_msgs::PointCloud2*>(data), buffer);
}
else
{
std::cout << "obstacle_layer: Unknown type: " << type.name() << std::endl;
}
// else
// {
// std::cout << "obstacle_layer: check type: " << (type == typeid(robot_sensor_msgs::LaserScan)) << std::endl
// << "obstacle_layer: inf_is_valid: " << callback_infos_[i].inf_is_valid << std::endl
// << "data type: " << callback_infos_[i].data_type << std::endl
// << "topic: " << topic << std::endl
// << "topic check: " << callback_infos_[i].topic << std::endl << std::endl;
// }
}
}
else

2
src/costmap_2d.cpp
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@ -255,6 +255,8 @@ void Costmap2D::worldToMapEnforceBounds(double wx, double wy, int& mx, int& my)
{
my = (int)((wy - origin_y_) / resolution_);
}
// printf("CHECK FUNCTION: %f | %f\n",wx,wy);
// printf("CHECK FUNCTION: resolution_: %f\n",resolution_);
}
void Costmap2D::updateOrigin(double new_origin_x, double new_origin_y)

27
src/costmap_2d_robot.cpp
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@ -128,6 +128,7 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
robot::PluginLoaderHelper loader;
if (nh.hasParam("rolling_window"))
nh.getParam("rolling_window", rolling_window);
@ -395,6 +396,7 @@ void Costmap2DROBOT::updateMap()
double x = pose.pose.position.x,
y = pose.pose.position.y,
yaw = data_convert::getYaw(pose.pose.orientation);
// robot::log_error("ROBOT POSE: %f | %f | %f",x,y,yaw);
layered_costmap_->updateMap(x, y, yaw);
robot_geometry_msgs::PolygonStamped footprint;
footprint.header.frame_id = global_frame_;
@ -498,6 +500,13 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
{
robot_geometry_msgs::PoseStamped robot_pose;
robot_geometry_msgs::Pose pose_default;
pose_default.orientation.x = 0;
pose_default.orientation.y = 0;
pose_default.orientation.z = 0;
pose_default.orientation.w = 1;
pose_default.position.x = 0;
pose_default.position.y = 0;
pose_default.position.z = 0;
global_pose.pose = pose_default;
robot_pose.pose = pose_default;
@ -509,10 +518,22 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
try
{
// use current time if possible (makes sure it's not in the future)
if (tf_.canTransform(global_frame_, robot_base_frame_, data_convert::convertTime(current_time)))
if (tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time()))
{
tf3::TransformStampedMsg transform = tf_.lookupTransform(global_frame_, robot_base_frame_, data_convert::convertTime(current_time));
tf3::TransformStampedMsg transform = tf_.lookupTransform(global_frame_, robot_base_frame_,tf3::Time());
tf3::doTransform(robot_pose, global_pose, transform);
// robot::log_error("%s ||| %f | %f | %f ||| %f | %f | %f | %f", transform.child_frame_id.c_str(),
// global_pose.pose.position.x,
// global_pose.pose.position.y,
// global_pose.pose.position.z,
// global_pose.pose.orientation.x,
// global_pose.pose.orientation.y,
// global_pose.pose.orientation.z,
// global_pose.pose.orientation.w);
// transform.transform.rotation.x,
// transform.transform.rotation.y,
// transform.transform.rotation.z,
// transform.transform.rotation.w);
}
// use the latest otherwise
else
@ -521,7 +542,7 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
tf3::TransformStampedMsg transform = tf_.lookupTransform(
global_frame_, // frame đích
robot_base_frame_, // frame nguồn
data_convert::convertTime(robot_pose.header.stamp)
tf3::Time()
);
tf3::doTransform(robot_pose, global_pose, transform);
}

7
src/layered_costmap.cpp
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@ -111,7 +111,7 @@ namespace robot_costmap_2d
minx_ = miny_ = 1e30;
maxx_ = maxy_ = -1e30;
printf("START\n");
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
@ -121,6 +121,7 @@ namespace robot_costmap_2d
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
std::cout << "robot x: " << robot_x << "\nrobot y: " << robot_y << "\nrobot yaw: " << robot_yaw << std::endl;
(*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)
{
@ -131,6 +132,7 @@ namespace robot_costmap_2d
(*plugin)->getName().c_str());
}
}
printf("END\n");
int x0, xn, y0, yn;
costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0);
@ -141,7 +143,8 @@ namespace robot_costmap_2d
y0 = std::max(0, y0);
yn = std::min(int(costmap_.getSizeInCellsY()), yn + 1);
printf("Updating area x: [%d, %d] y: [%d, %d]\n", x0, xn, y0, yn);
// printf("Updating area x: [%d, %d] y: [%d, %d]\n", x0, xn, y0, yn);
// printf("Updating area x: [%f, %f] y: [%f, %f]\n", minx_, miny_, maxx_, maxy_);
if (xn < x0 || yn < y0)
return;

6
src/observation_buffer.cpp
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@ -140,7 +140,8 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
local_origin.header.frame_id, // frame nguồn
data_convert::convertTime(local_origin.header.stamp)
tf3::Time()
// data_convert::convertTime(local_origin.header.stamp)
);
tf3::doTransform(local_origin, global_origin, tfm_1);
@ -161,7 +162,8 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
cloud.header.frame_id, // frame nguồn
data_convert::convertTime(cloud.header.stamp)
tf3::Time()
// data_convert::convertTime(cloud.header.stamp)
);
tf3::doTransform(cloud, global_frame_cloud, tfm_2);
global_frame_cloud.header.stamp = cloud.header.stamp;