diff --git a/CMakeLists.txt b/CMakeLists.txt index 4a6932b..636e5d6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,41 +1,167 @@ +# cmake_minimum_required(VERSION 3.10) +# project(costmap_2d) + +# set(CMAKE_CXX_STANDARD 17) +# set(CMAKE_POSITION_INDEPENDENT_CODE ON) + +# find_package(tf2 REQUIRED) + +# if (NOT TARGET sensor_msgs) +# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build) +# endif() + +# if (NOT TARGET geometry_msgs) +# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build) +# endif() + +# if (NOT TARGET nav_msgs) +# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build) +# endif() + +# if (NOT TARGET map_msgs) +# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build) +# endif() + + +# # ---- Dependencies ---- +# find_package(Eigen3 REQUIRED) +# find_package(Boost REQUIRED COMPONENTS system thread) +# find_package(GTest REQUIRED) +# find_package(PCL REQUIRED COMPONENTS common io) + +# include_directories( +# include +# ${EIGEN3_INCLUDE_DIRS} +# ${Boost_INCLUDE_DIRS} +# ${GTEST_INCLUDE_DIRS} +# ${PCL_INCLUDE_DIRS} +# /usr/include +# ) +# link_directories(${PCL_LIBRARY_DIRS}) + +# add_definitions(${EIGEN3_DEFINITIONS} +# ${PCL_DEFINITIONS}) + +# # ---- Core costmap_2d library ---- +# 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_math.cpp +# src/footprint.cpp +# src/costmap_layer.cpp +# ) + +# target_link_libraries(costmap_2d +# ${Boost_LIBRARIES} +# std_msgs +# sensor_msgs +# geometry_msgs +# nav_msgs +# map_msgs +# # tf2 +# ) +# target_include_directories(costmap_2d PRIVATE ${Boost_INCLUDE_DIRS}) + +# # # ---- Layer plugins ---- +# add_library(layers SHARED +# # plugins/inflation_layer.cpp +# # plugins/obstacle_layer.cpp +# plugins/static_layer.cpp +# # plugins/voxel_layer.cpp +# # plugins/preferred_layer.cpp +# # plugins/unpreferred_layer.cpp +# # plugins/critical_layer.cpp +# # plugins/directional_layer.cpp +# ) + +# target_link_libraries(layers +# costmap_2d +# ${Boost_LIBRARIES} +# yaml-cpp +# ) + + + +# # ---- Example Executable ---- +# add_executable(test_array_parser test/array_parser_test.cpp) +# add_executable(test_costmap test/coordinates_test.cpp) +# add_executable(test_plugin test/static_layer_test.cpp) +# target_link_libraries(test_array_parser PRIVATE costmap_2d +# PRIVATE GTest::GTest +# PRIVATE GTest::Main +# PRIVATE pthread) +# target_link_libraries(test_costmap PRIVATE costmap_2d +# PRIVATE GTest::GTest +# PRIVATE GTest::Main +# PRIVATE pthread) +# target_link_libraries(test_plugin PRIVATE +# # /usr/lib/libtf2.so +# tf2 +# costmap_2d +# ${Boost_LIBRARIES} +# Boost::filesystem +# Boost::system +# dl +# pthread +# yaml-cpp) + +# set_target_properties(test_plugin PROPERTIES +# BUILD_RPATH "${CMAKE_BINARY_DIR}/costmap_2d" +# INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d" +# ) + cmake_minimum_required(VERSION 3.10) project(costmap_2d) set(CMAKE_CXX_STANDARD 17) set(CMAKE_POSITION_INDEPENDENT_CODE ON) +# --- RPATH settings: ưu tiên thư viện build tại chỗ --- +set(CMAKE_SKIP_BUILD_RPATH FALSE) +set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) +set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/costmap_2d") +set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d") +set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) + +# --- Dependencies --- +# find_package(tf2 REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(Boost REQUIRED COMPONENTS system thread filesystem) +find_package(GTest REQUIRED) +find_package(PCL REQUIRED COMPONENTS common io) +set(TF2_LIBRARY /usr/lib/libtf2.so) + +# --- Include other message packages if needed --- if (NOT TARGET sensor_msgs) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build) endif() - if (NOT TARGET geometry_msgs) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build) endif() - if (NOT TARGET nav_msgs) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build) endif() - if (NOT TARGET map_msgs) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build) endif() - -# ---- Dependencies ---- -find_package(Eigen3 REQUIRED) -find_package(Boost REQUIRED COMPONENTS system thread) - include_directories( - include + include ${EIGEN3_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} + ${GTEST_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} /usr/include ) +link_directories(${PCL_LIBRARY_DIRS}) -add_definitions(${EIGEN3_DEFINITIONS}) +add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS}) -# ---- Core costmap_2d library ---- -add_library(costmap_2d +# --- Core library --- +add_library(costmap_2d_new src/array_parser.cpp src/costmap_2d.cpp src/observation_buffer.cpp @@ -46,28 +172,54 @@ add_library(costmap_2d src/costmap_layer.cpp ) -target_link_libraries(costmap_2d +target_link_libraries(costmap_2d_new ${Boost_LIBRARIES} + std_msgs sensor_msgs geometry_msgs nav_msgs map_msgs - tf2 + ${TF2_LIBRARY} ) +target_include_directories(costmap_2d_new PRIVATE ${Boost_INCLUDE_DIRS}) -# # ---- Layer plugins ---- -add_library(layers - plugins/inflation_layer.cpp - plugins/obstacle_layer.cpp +# --- Plugin libraries --- +add_library(layers SHARED plugins/static_layer.cpp -# plugins/voxel_layer.cpp ) - target_link_libraries(layers - costmap_2d + costmap_2d_new ${Boost_LIBRARIES} + yaml-cpp ) -# ---- Example Executable ---- -# add_executable(test_costmap main.cpp) -# target_link_libraries(test_costmap costmap_2d layers) +# --- Test executables --- +add_executable(test_array_parser test/array_parser_test.cpp) +add_executable(test_costmap test/coordinates_test.cpp) +add_executable(test_plugin test/static_layer_test.cpp) + +target_link_libraries(test_array_parser PRIVATE + costmap_2d_new + GTest::GTest + GTest::Main + pthread +) + +target_link_libraries(test_costmap PRIVATE + costmap_2d_new + GTest::GTest + GTest::Main + pthread +) + +target_link_libraries(test_plugin PRIVATE + ${TF2_LIBRARY} + costmap_2d_new + layers + ${Boost_LIBRARIES} + Boost::filesystem + Boost::system + dl + pthread + yaml-cpp +) diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt index 69f1308..84dd3a3 100644 --- a/build/CMakeCache.txt +++ b/build/CMakeCache.txt @@ -14,12 +14,45 @@ # EXTERNAL cache entries ######################## +//Boost date_time library (debug) +Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost date_time library (release) +Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + //The directory containing a CMake configuration file for Boost. Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0 +//Boost filesystem library (debug) +Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so + +//Boost filesystem library (release) +Boost_FILESYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so + //Path to a file. Boost_INCLUDE_DIR:PATH=/usr/include +//Boost iostreams library (debug) +Boost_IOSTREAMS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so + +//Boost iostreams library (release) +Boost_IOSTREAMS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so + +//Boost library directory DEBUG +Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu + +//Boost library directory RELEASE +Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu + +//Boost regex library (debug) +Boost_REGEX_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_regex.so + +//Boost regex library (release) +Boost_REGEX_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_regex.so + +//Boost system library (debug) +Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so + Boost_SYSTEM_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 Boost_THREAD_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 @@ -219,6 +252,9 @@ CMAKE_STRIP:FILEPATH=/usr/bin/strip // Studio IDE projects all commands are done without /nologo. CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE +//Path to a file. +EIGEN_INCLUDE_DIR:PATH=/usr/include/eigen3 + //The directory containing a CMake configuration file for Eigen3. Eigen3_DIR:PATH=/usr/lib/cmake/eigen3 @@ -252,6 +288,66 @@ GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND //The directory containing a CMake configuration file for GTest. GTest_DIR:PATH=GTest_DIR-NOTFOUND +//Path to a file. +LIBUSB_1_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//Path to a file. +OPENNI2_INCLUDE_DIR:PATH=/usr/include/openni2 + +//Path to a library. +OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so + +//Path to a file. +OPENNI_INCLUDE_DIR:PATH=/usr/include/ni + +//Path to a library. +OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so + +//path to common headers +PCL_COMMON_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_common library +PCL_COMMON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//path to pcl_common library debug +PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//The directory containing a CMake configuration file for PCL. +PCL_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/pcl + +//path to io headers +PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_io library +PCL_IO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to pcl_io library debug +PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to octree headers +PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_octree library +PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//path to pcl_octree library debug +PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a file. +USB_10_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +USB_10_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//The directory containing VTKConfig.cmake +VTK_DIR:PATH=/usr/lib/cmake/vtk-7.1 + //The directory containing a CMake configuration file for boost_atomic. boost_atomic_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0 @@ -268,7 +364,7 @@ boost_thread_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0 costmap_2d_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build //Dependencies for the target -costmap_2d_LIB_DEPENDS:STATIC=general;Boost::system;general;Boost::thread;general;tf2; +costmap_2d_LIB_DEPENDS:STATIC=general;/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;tf2; //Value Computed by CMake costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d @@ -280,7 +376,7 @@ geometry_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/geo geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry_msgs //Dependencies for the target -layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread; +layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so; //Value Computed by CMake map_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build @@ -294,6 +390,27 @@ nav_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/nav_msgs //Value Computed by CMake nav_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/nav_msgs +//Path to a library. +pkgcfg_lib_PC_OPENNI2_OpenNI2:FILEPATH=/usr/lib/libOpenNI2.so + +//Path to a library. +pkgcfg_lib_PC_OPENNI_OpenNI:FILEPATH=/usr/lib/libOpenNI.so + +//Path to a library. +pkgcfg_lib_PC_USB_10_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//Value Computed by CMake +robot_time_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/robot_time_build + +//Value Computed by CMake +robot_time_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/robot_time + +//Value Computed by CMake +rostime_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/robot_time_build + +//Value Computed by CMake +rostime_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/robot_time + //Value Computed by CMake sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build @@ -311,8 +428,34 @@ std_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/std_msgs # INTERNAL cache entries ######################## +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_DEBUG +Boost_DATE_TIME_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_RELEASE +Boost_DATE_TIME_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: Boost_DIR Boost_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_DEBUG +Boost_FILESYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_RELEASE +Boost_FILESYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_INCLUDE_DIR +Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_DEBUG +Boost_IOSTREAMS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_RELEASE +Boost_IOSTREAMS_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_DEBUG +Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_RELEASE +Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_REGEX_LIBRARY_DEBUG +Boost_REGEX_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_REGEX_LIBRARY_RELEASE +Boost_REGEX_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_DEBUG +Boost_SYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_RELEASE +Boost_SYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_ADDR2LINE CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_AR @@ -421,7 +564,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_NM CMAKE_NM-ADVANCED:INTERNAL=1 //number of local generators -CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=6 +CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=7 //ADVANCED property for variable: CMAKE_OBJCOPY CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_OBJDUMP @@ -464,10 +607,30 @@ CMAKE_STRIP-ADVANCED:INTERNAL=1 CMAKE_UNAME:INTERNAL=/usr/bin/uname //ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: EIGEN_INCLUDE_DIR +EIGEN_INCLUDE_DIR-ADVANCED:INTERNAL=1 //Details about finding Boost -FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake][cfound components: system thread ][v1.71.0()] +FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/include][cfound components: system filesystem date_time iostreams regex ][v1.71.0(1.55.0)] +//Details about finding Eigen +FIND_PACKAGE_MESSAGE_DETAILS_Eigen:INTERNAL=[/usr/include/eigen3][v(3.1)] //Details about finding GTest FIND_PACKAGE_MESSAGE_DETAILS_GTest:INTERNAL=[/usr/local/lib/libgtest.a][/usr/local/include][/usr/local/lib/libgtest_main.a][v()] +//Details about finding OpenNI +FIND_PACKAGE_MESSAGE_DETAILS_OpenNI:INTERNAL=[/usr/lib/libOpenNI.so][/usr/include/ni][v()] +//Details about finding OpenNI2 +FIND_PACKAGE_MESSAGE_DETAILS_OpenNI2:INTERNAL=[/usr/lib/libOpenNI2.so][/usr/include/openni2][v()] +//Details about finding PCL +FIND_PACKAGE_MESSAGE_DETAILS_PCL:INTERNAL=[pcl_common;pcl_octree;pcl_io;/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2][/usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu][v()] +//Details about finding PCL_COMMON +FIND_PACKAGE_MESSAGE_DETAILS_PCL_COMMON:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_common.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_IO +FIND_PACKAGE_MESSAGE_DETAILS_PCL_IO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_io.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_OCTREE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_OCTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_octree.so][/usr/include/pcl-1.10][v()] +//Details about finding USB_10 +FIND_PACKAGE_MESSAGE_DETAILS_USB_10:INTERNAL=[/usr/lib/x86_64-linux-gnu/libusb-1.0.so][/usr/include][v()] +//Details about finding libusb-1.0 +FIND_PACKAGE_MESSAGE_DETAILS_libusb-1.0:INTERNAL=[/usr/include][v()] //ADVANCED property for variable: GMOCK_LIBRARY GMOCK_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable: GMOCK_LIBRARY_DEBUG @@ -486,6 +649,190 @@ GTEST_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable: GTEST_MAIN_LIBRARY_DEBUG GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_INCLUDE_DIR +PCL_COMMON_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY +PCL_COMMON_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY_DEBUG +PCL_COMMON_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_INCLUDE_DIR +PCL_IO_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY +PCL_IO_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY_DEBUG +PCL_IO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_INCLUDE_DIR +PCL_OCTREE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_LIBRARY +PCL_OCTREE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_LIBRARY_DEBUG +PCL_OCTREE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +PC_EIGEN_CFLAGS:INTERNAL=-I/usr/include/eigen3 +PC_EIGEN_CFLAGS_I:INTERNAL= +PC_EIGEN_CFLAGS_OTHER:INTERNAL= +PC_EIGEN_FOUND:INTERNAL=1 +PC_EIGEN_INCLUDEDIR:INTERNAL= +PC_EIGEN_INCLUDE_DIRS:INTERNAL=/usr/include/eigen3 +PC_EIGEN_LDFLAGS:INTERNAL= +PC_EIGEN_LDFLAGS_OTHER:INTERNAL= +PC_EIGEN_LIBDIR:INTERNAL= +PC_EIGEN_LIBRARIES:INTERNAL= +PC_EIGEN_LIBRARY_DIRS:INTERNAL= +PC_EIGEN_LIBS:INTERNAL= +PC_EIGEN_LIBS_L:INTERNAL= +PC_EIGEN_LIBS_OTHER:INTERNAL= +PC_EIGEN_LIBS_PATHS:INTERNAL= +PC_EIGEN_MODULE_NAME:INTERNAL=eigen3 +PC_EIGEN_PREFIX:INTERNAL=/usr +PC_EIGEN_STATIC_CFLAGS:INTERNAL=-I/usr/include/eigen3 +PC_EIGEN_STATIC_CFLAGS_I:INTERNAL= +PC_EIGEN_STATIC_CFLAGS_OTHER:INTERNAL= +PC_EIGEN_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/eigen3 +PC_EIGEN_STATIC_LDFLAGS:INTERNAL= +PC_EIGEN_STATIC_LDFLAGS_OTHER:INTERNAL= +PC_EIGEN_STATIC_LIBDIR:INTERNAL= +PC_EIGEN_STATIC_LIBRARIES:INTERNAL= +PC_EIGEN_STATIC_LIBRARY_DIRS:INTERNAL= +PC_EIGEN_STATIC_LIBS:INTERNAL= +PC_EIGEN_STATIC_LIBS_L:INTERNAL= +PC_EIGEN_STATIC_LIBS_OTHER:INTERNAL= +PC_EIGEN_STATIC_LIBS_PATHS:INTERNAL= +PC_EIGEN_VERSION:INTERNAL=3.3.7 +PC_EIGEN_eigen3_INCLUDEDIR:INTERNAL= +PC_EIGEN_eigen3_LIBDIR:INTERNAL= +PC_EIGEN_eigen3_PREFIX:INTERNAL= +PC_EIGEN_eigen3_VERSION:INTERNAL= +PC_OPENNI2_CFLAGS:INTERNAL=-I/usr/include/openni2 +PC_OPENNI2_CFLAGS_I:INTERNAL= +PC_OPENNI2_CFLAGS_OTHER:INTERNAL= +PC_OPENNI2_FOUND:INTERNAL=1 +PC_OPENNI2_INCLUDEDIR:INTERNAL=/usr/include/openni2 +PC_OPENNI2_INCLUDE_DIRS:INTERNAL=/usr/include/openni2 +PC_OPENNI2_LDFLAGS:INTERNAL=-lOpenNI2 +PC_OPENNI2_LDFLAGS_OTHER:INTERNAL= +PC_OPENNI2_LIBDIR:INTERNAL=/usr/lib +PC_OPENNI2_LIBRARIES:INTERNAL=OpenNI2 +PC_OPENNI2_LIBRARY_DIRS:INTERNAL= +PC_OPENNI2_LIBS:INTERNAL= +PC_OPENNI2_LIBS_L:INTERNAL= +PC_OPENNI2_LIBS_OTHER:INTERNAL= +PC_OPENNI2_LIBS_PATHS:INTERNAL= +PC_OPENNI2_MODULE_NAME:INTERNAL=libopenni2 +PC_OPENNI2_PREFIX:INTERNAL=/usr +PC_OPENNI2_STATIC_CFLAGS:INTERNAL=-I/usr/include/openni2 +PC_OPENNI2_STATIC_CFLAGS_I:INTERNAL= +PC_OPENNI2_STATIC_CFLAGS_OTHER:INTERNAL= +PC_OPENNI2_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/openni2 +PC_OPENNI2_STATIC_LDFLAGS:INTERNAL=-lOpenNI2 +PC_OPENNI2_STATIC_LDFLAGS_OTHER:INTERNAL= +PC_OPENNI2_STATIC_LIBDIR:INTERNAL= +PC_OPENNI2_STATIC_LIBRARIES:INTERNAL=OpenNI2 +PC_OPENNI2_STATIC_LIBRARY_DIRS:INTERNAL= +PC_OPENNI2_STATIC_LIBS:INTERNAL= +PC_OPENNI2_STATIC_LIBS_L:INTERNAL= +PC_OPENNI2_STATIC_LIBS_OTHER:INTERNAL= +PC_OPENNI2_STATIC_LIBS_PATHS:INTERNAL= +PC_OPENNI2_VERSION:INTERNAL=2.2.0.3 +PC_OPENNI2_libopenni2_INCLUDEDIR:INTERNAL= +PC_OPENNI2_libopenni2_LIBDIR:INTERNAL= +PC_OPENNI2_libopenni2_PREFIX:INTERNAL= +PC_OPENNI2_libopenni2_VERSION:INTERNAL= +PC_OPENNI_CFLAGS:INTERNAL=-I/usr/include/ni +PC_OPENNI_CFLAGS_I:INTERNAL= +PC_OPENNI_CFLAGS_OTHER:INTERNAL= +PC_OPENNI_FOUND:INTERNAL=1 +PC_OPENNI_INCLUDEDIR:INTERNAL=/usr/include/ni +PC_OPENNI_INCLUDE_DIRS:INTERNAL=/usr/include/ni +PC_OPENNI_LDFLAGS:INTERNAL=-lOpenNI +PC_OPENNI_LDFLAGS_OTHER:INTERNAL= +PC_OPENNI_LIBDIR:INTERNAL=/usr/lib +PC_OPENNI_LIBRARIES:INTERNAL=OpenNI +PC_OPENNI_LIBRARY_DIRS:INTERNAL= +PC_OPENNI_LIBS:INTERNAL= +PC_OPENNI_LIBS_L:INTERNAL= +PC_OPENNI_LIBS_OTHER:INTERNAL= +PC_OPENNI_LIBS_PATHS:INTERNAL= +PC_OPENNI_MODULE_NAME:INTERNAL=libopenni +PC_OPENNI_PREFIX:INTERNAL=/usr +PC_OPENNI_STATIC_CFLAGS:INTERNAL=-I/usr/include/ni +PC_OPENNI_STATIC_CFLAGS_I:INTERNAL= +PC_OPENNI_STATIC_CFLAGS_OTHER:INTERNAL= +PC_OPENNI_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/ni +PC_OPENNI_STATIC_LDFLAGS:INTERNAL=-lOpenNI +PC_OPENNI_STATIC_LDFLAGS_OTHER:INTERNAL= +PC_OPENNI_STATIC_LIBDIR:INTERNAL= +PC_OPENNI_STATIC_LIBRARIES:INTERNAL=OpenNI +PC_OPENNI_STATIC_LIBRARY_DIRS:INTERNAL= +PC_OPENNI_STATIC_LIBS:INTERNAL= +PC_OPENNI_STATIC_LIBS_L:INTERNAL= +PC_OPENNI_STATIC_LIBS_OTHER:INTERNAL= +PC_OPENNI_STATIC_LIBS_PATHS:INTERNAL= +PC_OPENNI_VERSION:INTERNAL=1.5.4.0 +PC_OPENNI_libopenni_INCLUDEDIR:INTERNAL= +PC_OPENNI_libopenni_LIBDIR:INTERNAL= +PC_OPENNI_libopenni_PREFIX:INTERNAL= +PC_OPENNI_libopenni_VERSION:INTERNAL= +PC_USB_10_CFLAGS:INTERNAL=-I/usr/include/libusb-1.0 +PC_USB_10_CFLAGS_I:INTERNAL= +PC_USB_10_CFLAGS_OTHER:INTERNAL= +PC_USB_10_FOUND:INTERNAL=1 +PC_USB_10_INCLUDEDIR:INTERNAL=/usr/include +PC_USB_10_INCLUDE_DIRS:INTERNAL=/usr/include/libusb-1.0 +PC_USB_10_LDFLAGS:INTERNAL=-lusb-1.0 +PC_USB_10_LDFLAGS_OTHER:INTERNAL= +PC_USB_10_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu +PC_USB_10_LIBRARIES:INTERNAL=usb-1.0 +PC_USB_10_LIBRARY_DIRS:INTERNAL= +PC_USB_10_LIBS:INTERNAL= +PC_USB_10_LIBS_L:INTERNAL= +PC_USB_10_LIBS_OTHER:INTERNAL= +PC_USB_10_LIBS_PATHS:INTERNAL= +PC_USB_10_MODULE_NAME:INTERNAL=libusb-1.0 +PC_USB_10_PREFIX:INTERNAL=/usr +PC_USB_10_STATIC_CFLAGS:INTERNAL=-I/usr/include/libusb-1.0 +PC_USB_10_STATIC_CFLAGS_I:INTERNAL= +PC_USB_10_STATIC_CFLAGS_OTHER:INTERNAL= +PC_USB_10_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/libusb-1.0 +PC_USB_10_STATIC_LDFLAGS:INTERNAL=-lusb-1.0;-ludev;-pthread +PC_USB_10_STATIC_LDFLAGS_OTHER:INTERNAL=-pthread +PC_USB_10_STATIC_LIBDIR:INTERNAL= +PC_USB_10_STATIC_LIBRARIES:INTERNAL=usb-1.0;udev +PC_USB_10_STATIC_LIBRARY_DIRS:INTERNAL= +PC_USB_10_STATIC_LIBS:INTERNAL= +PC_USB_10_STATIC_LIBS_L:INTERNAL= +PC_USB_10_STATIC_LIBS_OTHER:INTERNAL= +PC_USB_10_STATIC_LIBS_PATHS:INTERNAL= +PC_USB_10_VERSION:INTERNAL=1.0.23 +PC_USB_10_libusb-1.0_INCLUDEDIR:INTERNAL= +PC_USB_10_libusb-1.0_LIBDIR:INTERNAL= +PC_USB_10_libusb-1.0_PREFIX:INTERNAL= +PC_USB_10_libusb-1.0_VERSION:INTERNAL= +//ADVANCED property for variable: PKG_CONFIG_EXECUTABLE +PKG_CONFIG_EXECUTABLE-ADVANCED:INTERNAL=1 +//Last used BOOST_INCLUDEDIR value. +_BOOST_INCLUDEDIR_LAST:INTERNAL=/usr/include +//Last used Boost_ADDITIONAL_VERSIONS value. +_Boost_ADDITIONAL_VERSIONS_LAST:INTERNAL=1.71.0;1.71;1.71.0;1.71;1.70.0;1.70;1.69.0;1.69;1.68.0;1.68;1.67.0;1.67;1.66.0;1.66;1.65.1;1.65.0;1.65;1.64.0;1.64;1.63.0;1.63;1.62.0;1.62;1.61.0;1.61;1.60.0;1.60;1.59.0;1.59;1.58.0;1.58;1.57.0;1.57;1.56.0;1.56;1.55.0;1.55 +//Components requested for this build tree. +_Boost_COMPONENTS_SEARCHED:INTERNAL=date_time;filesystem;iostreams;regex;system +//Last used Boost_INCLUDE_DIR value. +_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include +//Last used Boost_LIBRARY_DIR_DEBUG value. +_Boost_LIBRARY_DIR_DEBUG_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu +//Last used Boost_LIBRARY_DIR_RELEASE value. +_Boost_LIBRARY_DIR_RELEASE_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu +//Last used Boost_NAMESPACE value. +_Boost_NAMESPACE_LAST:INTERNAL=boost +//Last used Boost_USE_MULTITHREADED value. +_Boost_USE_MULTITHREADED_LAST:INTERNAL=TRUE +__pkg_config_arguments_PC_EIGEN:INTERNAL=eigen3 +__pkg_config_arguments_PC_OPENNI:INTERNAL=QUIET;libopenni +__pkg_config_arguments_PC_OPENNI2:INTERNAL=QUIET;libopenni2 +__pkg_config_arguments_PC_USB_10:INTERNAL=libusb-1.0 +__pkg_config_checked_PC_EIGEN:INTERNAL=1 +__pkg_config_checked_PC_OPENNI:INTERNAL=1 +__pkg_config_checked_PC_OPENNI2:INTERNAL=1 +__pkg_config_checked_PC_USB_10:INTERNAL=1 //ADVANCED property for variable: boost_atomic_DIR boost_atomic_DIR-ADVANCED:INTERNAL=1 //ADVANCED property for variable: boost_headers_DIR @@ -494,4 +841,11 @@ boost_headers_DIR-ADVANCED:INTERNAL=1 boost_system_DIR-ADVANCED:INTERNAL=1 //ADVANCED property for variable: boost_thread_DIR boost_thread_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: pkgcfg_lib_PC_OPENNI2_OpenNI2 +pkgcfg_lib_PC_OPENNI2_OpenNI2-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: pkgcfg_lib_PC_OPENNI_OpenNI +pkgcfg_lib_PC_OPENNI_OpenNI-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: pkgcfg_lib_PC_USB_10_usb-1.0 +pkgcfg_lib_PC_USB_10_usb-1.0-ADVANCED:INTERNAL=1 +prefix_result:INTERNAL=/usr/lib diff --git a/build/CMakeFiles/CMakeError.log b/build/CMakeFiles/CMakeError.log index 7503d47..358fd6f 100644 --- a/build/CMakeFiles/CMakeError.log +++ b/build/CMakeFiles/CMakeError.log @@ -1,21 +1,21 @@ Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_6fa4e/fast && /usr/bin/make -f CMakeFiles/cmTC_6fa4e.dir/build.make CMakeFiles/cmTC_6fa4e.dir/build +Run Build Command(s):/usr/bin/make cmTC_27e1b/fast && /usr/bin/make -f CMakeFiles/cmTC_27e1b.dir/build.make CMakeFiles/cmTC_27e1b.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building C object CMakeFiles/cmTC_6fa4e.dir/src.c.o -/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_6fa4e.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c -Linking C executable cmTC_6fa4e -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fa4e.dir/link.txt --verbose=1 -/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_6fa4e.dir/src.c.o -o cmTC_6fa4e -/usr/bin/ld: CMakeFiles/cmTC_6fa4e.dir/src.c.o: in function `main': +Building C object CMakeFiles/cmTC_27e1b.dir/src.c.o +/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_27e1b.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c +Linking C executable cmTC_27e1b +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_27e1b.dir/link.txt --verbose=1 +/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_27e1b.dir/src.c.o -o cmTC_27e1b +/usr/bin/ld: CMakeFiles/cmTC_27e1b.dir/src.c.o: in function `main': src.c:(.text+0x46): undefined reference to `pthread_create' /usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach' /usr/bin/ld: src.c:(.text+0x63): undefined reference to `pthread_join' collect2: error: ld returned 1 exit status -make[1]: *** [CMakeFiles/cmTC_6fa4e.dir/build.make:87: cmTC_6fa4e] Error 1 +make[1]: *** [CMakeFiles/cmTC_27e1b.dir/build.make:87: cmTC_27e1b] Error 1 make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -make: *** [Makefile:121: cmTC_6fa4e/fast] Error 2 +make: *** [Makefile:121: cmTC_27e1b/fast] Error 2 Source file was: @@ -41,18 +41,18 @@ int main(void) Determining if the function pthread_create exists in the pthreads failed with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_74663/fast && /usr/bin/make -f CMakeFiles/cmTC_74663.dir/build.make CMakeFiles/cmTC_74663.dir/build +Run Build Command(s):/usr/bin/make cmTC_6426c/fast && /usr/bin/make -f CMakeFiles/cmTC_6426c.dir/build.make CMakeFiles/cmTC_6426c.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building C object CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c -Linking C executable cmTC_74663 -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_74663.dir/link.txt --verbose=1 -/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -o cmTC_74663 -lpthreads +Building C object CMakeFiles/cmTC_6426c.dir/CheckFunctionExists.c.o +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_6426c.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c +Linking C executable cmTC_6426c +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6426c.dir/link.txt --verbose=1 +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_6426c.dir/CheckFunctionExists.c.o -o cmTC_6426c -lpthreads /usr/bin/ld: cannot find -lpthreads collect2: error: ld returned 1 exit status -make[1]: *** [CMakeFiles/cmTC_74663.dir/build.make:87: cmTC_74663] Error 1 +make[1]: *** [CMakeFiles/cmTC_6426c.dir/build.make:87: cmTC_6426c] Error 1 make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -make: *** [Makefile:121: cmTC_74663/fast] Error 2 +make: *** [Makefile:121: cmTC_6426c/fast] Error 2 diff --git a/build/CMakeFiles/CMakeOutput.log b/build/CMakeFiles/CMakeOutput.log index 70bf2da..a5f312c 100644 --- a/build/CMakeFiles/CMakeOutput.log +++ b/build/CMakeFiles/CMakeOutput.log @@ -28,13 +28,13 @@ The CXX compiler identification is GNU, found in "/home/duongtd/robotics_core/co Determining if the C compiler works passed with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_2edfc/fast && /usr/bin/make -f CMakeFiles/cmTC_2edfc.dir/build.make CMakeFiles/cmTC_2edfc.dir/build +Run Build Command(s):/usr/bin/make cmTC_b8e7c/fast && /usr/bin/make -f CMakeFiles/cmTC_b8e7c.dir/build.make CMakeFiles/cmTC_b8e7c.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building C object CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -/usr/bin/cc -o CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c -Linking C executable cmTC_2edfc -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2edfc.dir/link.txt --verbose=1 -/usr/bin/cc CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -o cmTC_2edfc +Building C object CMakeFiles/cmTC_b8e7c.dir/testCCompiler.c.o +/usr/bin/cc -o CMakeFiles/cmTC_b8e7c.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c +Linking C executable cmTC_b8e7c +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_b8e7c.dir/link.txt --verbose=1 +/usr/bin/cc CMakeFiles/cmTC_b8e7c.dir/testCCompiler.c.o -o cmTC_b8e7c make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' @@ -42,10 +42,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi Detecting C compiler ABI info compiled with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_ae21c/fast && /usr/bin/make -f CMakeFiles/cmTC_ae21c.dir/build.make CMakeFiles/cmTC_ae21c.dir/build +Run Build Command(s):/usr/bin/make cmTC_85d50/fast && /usr/bin/make -f CMakeFiles/cmTC_85d50.dir/build.make CMakeFiles/cmTC_85d50.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building C object CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -/usr/bin/cc -v -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c +Building C object CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o +/usr/bin/cc -v -o CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c Using built-in specs. COLLECT_GCC=/usr/bin/cc OFFLOAD_TARGET_NAMES=nvptx-none:hsa @@ -54,8 +54,8 @@ Target: x86_64-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu Thread model: posix gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' - /usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc8d1aOs.s +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' + /usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccnb1DTT.s GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu) compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP @@ -75,15 +75,15 @@ GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu) GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 Compiler executable checksum: 01da938ff5dc2163489aa33cb3b747a7 -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' - as -v --64 -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o /tmp/cc8d1aOs.s +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' + as -v --64 -o CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o /tmp/ccnb1DTT.s GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/ LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/ -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' -Linking C executable cmTC_ae21c -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ae21c.dir/link.txt --verbose=1 -/usr/bin/cc -v CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -o cmTC_ae21c +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' +Linking C executable cmTC_85d50 +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_85d50.dir/link.txt --verbose=1 +/usr/bin/cc -v CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o -o cmTC_85d50 Using built-in specs. 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CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] + ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_85d50' '-mtune=generic' '-march=x86-64'] + link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccheC2Il.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_85d50 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore arg [-plugin] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/ccRAp0BV.res] ==> ignore + arg [-plugin-opt=-fresolution=/tmp/ccheC2Il.res] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lc] ==> ignore @@ -198,7 +198,7 @@ Parsed C implicit link information from above output: arg [-znow] ==> ignore arg [-zrelro] ==> ignore arg [-o] ==> ignore - arg [cmTC_ae21c] ==> ignore + arg [cmTC_85d50] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore @@ -210,7 +210,7 @@ Parsed C implicit link information from above output: arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] - arg [CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o] ==> ignore + arg [CMakeFiles/cmTC_85d50.dir/CMakeCCompilerABI.c.o] ==> ignore arg [-lgcc] ==> lib [gcc] arg [--push-state] ==> ignore arg [--as-needed] ==> ignore @@ -240,13 +240,13 @@ Parsed C implicit link information from above output: Determining if the CXX compiler works passed with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_deb8a/fast && /usr/bin/make -f CMakeFiles/cmTC_deb8a.dir/build.make CMakeFiles/cmTC_deb8a.dir/build +Run Build Command(s):/usr/bin/make cmTC_35dfc/fast && /usr/bin/make -f CMakeFiles/cmTC_35dfc.dir/build.make CMakeFiles/cmTC_35dfc.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building CXX object CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o -/usr/bin/c++ -o CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx -Linking CXX executable cmTC_deb8a -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_deb8a.dir/link.txt --verbose=1 -/usr/bin/c++ CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o -o cmTC_deb8a +Building CXX object CMakeFiles/cmTC_35dfc.dir/testCXXCompiler.cxx.o +/usr/bin/c++ -o CMakeFiles/cmTC_35dfc.dir/testCXXCompiler.cxx.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx +Linking CXX executable cmTC_35dfc +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_35dfc.dir/link.txt --verbose=1 +/usr/bin/c++ CMakeFiles/cmTC_35dfc.dir/testCXXCompiler.cxx.o -o cmTC_35dfc make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' @@ -254,10 +254,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi Detecting CXX compiler ABI info compiled with the following output: Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_68632/fast && /usr/bin/make -f CMakeFiles/cmTC_68632.dir/build.make CMakeFiles/cmTC_68632.dir/build +Run Build Command(s):/usr/bin/make cmTC_be1c8/fast && /usr/bin/make -f CMakeFiles/cmTC_be1c8.dir/build.make CMakeFiles/cmTC_be1c8.dir/build make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' -Building CXX object CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -/usr/bin/c++ -v -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp +Building CXX object CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o +/usr/bin/c++ -v -o CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp Using built-in specs. COLLECT_GCC=/usr/bin/c++ OFFLOAD_TARGET_NAMES=nvptx-none:hsa @@ -266,8 +266,8 @@ Target: x86_64-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu Thread model: posix gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' - /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccLmzvLr.s +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' + /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccGBL5y3.s GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu) compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP @@ -291,15 +291,15 @@ GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu) GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 Compiler executable checksum: 3d1eba838554fa2348dba760e4770469 -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' - as -v --64 -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccLmzvLr.s +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' + as -v --64 -o CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccGBL5y3.s GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/ LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/ -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' -Linking CXX executable cmTC_68632 -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_68632.dir/link.txt --verbose=1 -/usr/bin/c++ -v CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_68632 +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' +Linking CXX executable cmTC_be1c8 +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_be1c8.dir/link.txt --verbose=1 +/usr/bin/c++ -v CMakeFiles/cmTC_be1c8.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_be1c8 Using built-in specs. 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"/usr/lib/cmake/vtk-7.1/VTKTargets-none.cmake" + "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" + "/usr/lib/cmake/vtk-7.1/vtkModuleAPI.cmake" "/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake" "/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfigVersion.cmake" "/usr/lib/x86_64-linux-gnu/cmake/BoostDetectToolset-1.71.0.cmake" @@ -36,6 +100,11 @@ set(CMAKE_MAKEFILE_DEPENDS "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/boost_thread-config.cmake" "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-shared.cmake" "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-static.cmake" + "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindEigen.cmake" + "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake" + "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI2.cmake" + "/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake" + "/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake" "/usr/share/cmake-3.16/Modules/CMakeCInformation.cmake" "/usr/share/cmake-3.16/Modules/CMakeCXXInformation.cmake" "/usr/share/cmake-3.16/Modules/CMakeCheckCompilerFlagCommonPatterns.cmake" @@ -57,6 +126,7 @@ set(CMAKE_MAKEFILE_DEPENDS "/usr/share/cmake-3.16/Modules/FindGTest.cmake" "/usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake" "/usr/share/cmake-3.16/Modules/FindPackageMessage.cmake" + "/usr/share/cmake-3.16/Modules/FindPkgConfig.cmake" "/usr/share/cmake-3.16/Modules/FindThreads.cmake" "/usr/share/cmake-3.16/Modules/GoogleTest.cmake" "/usr/share/cmake-3.16/Modules/Internal/CMakeCheckCompilerFlag.cmake" @@ -78,6 +148,7 @@ set(CMAKE_MAKEFILE_PRODUCTS "CMakeFiles/CMakeDirectoryInformation.cmake" "sensor_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake" "std_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake" + "robot_time_build/CMakeFiles/CMakeDirectoryInformation.cmake" "geometry_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake" 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CMakeFiles/test_array_parser.dir/all: CMakeFiles/costmap_2d.dir/all +CMakeFiles/test_array_parser.dir/all: robot_time_build/CMakeFiles/robot_time.dir/all $(MAKE) -f CMakeFiles/test_array_parser.dir/build.make CMakeFiles/test_array_parser.dir/depend $(MAKE) -f CMakeFiles/test_array_parser.dir/build.make CMakeFiles/test_array_parser.dir/build - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=14,15 "Built target test_array_parser" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=27,28 "Built target test_array_parser" .PHONY : CMakeFiles/test_array_parser.dir/all # Build rule for subdir invocation for target. CMakeFiles/test_array_parser.dir/rule: cmake_check_build_system - $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 11 + $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 15 $(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/test_array_parser.dir/all $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 0 .PHONY : CMakeFiles/test_array_parser.dir/rule @@ -235,14 +259,15 @@ CMakeFiles/test_array_parser.dir/clean: # All Build rule for target. CMakeFiles/layers.dir/all: CMakeFiles/costmap_2d.dir/all +CMakeFiles/layers.dir/all: robot_time_build/CMakeFiles/robot_time.dir/all $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/depend $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/build - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=10,11,12,13 "Built target layers" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=10,11,12,13,14,15,16,17,18 "Built target layers" .PHONY : CMakeFiles/layers.dir/all # Build rule for subdir invocation for target. CMakeFiles/layers.dir/rule: cmake_check_build_system - $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 13 + $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 22 $(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/layers.dir/all $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 0 .PHONY : CMakeFiles/layers.dir/rule @@ -261,7 +286,7 @@ CMakeFiles/layers.dir/clean: # Target rules for target CMakeFiles/costmap_2d.dir # All Build rule for target. -CMakeFiles/costmap_2d.dir/all: +CMakeFiles/costmap_2d.dir/all: robot_time_build/CMakeFiles/robot_time.dir/all $(MAKE) -f CMakeFiles/costmap_2d.dir/build.make CMakeFiles/costmap_2d.dir/depend $(MAKE) -f CMakeFiles/costmap_2d.dir/build.make CMakeFiles/costmap_2d.dir/build @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=1,2,3,4,5,6,7,8,9 "Built target costmap_2d" @@ -269,7 +294,7 @@ CMakeFiles/costmap_2d.dir/all: # Build rule for subdir invocation for target. 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+/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/install/local.dir +/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/install.dir +/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/list_install_components.dir /home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/rebuild_cache.dir /home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/edit_cache.dir diff --git a/build/CMakeFiles/costmap_2d.dir/CXX.includecache b/build/CMakeFiles/costmap_2d.dir/CXX.includecache index 88a126c..2df4a64 100644 --- a/build/CMakeFiles/costmap_2d.dir/CXX.includecache +++ b/build/CMakeFiles/costmap_2d.dir/CXX.includecache @@ -6,6 +6,58 @@ #IncludeRegexTransform: +../../robot_time/include/robot/duration.h +iostream +- +math.h +- +stdexcept +- +climits +- +stdint.h +- +robot_time_decl.h +../../robot_time/include/robot/robot_time_decl.h + +../../robot_time/include/robot/exception.h +stdexcept +- +string +- + +../../robot_time/include/robot/macros.h + +../../robot_time/include/robot/platform.h + +../../robot_time/include/robot/robot_time_decl.h +robot/macros.h +- + +../../robot_time/include/robot/time.h +robot/platform.h +- +iostream +- +cmath +- +robot/exception.h +- +duration.h +../../robot_time/include/robot/duration.h +robot_time_decl.h +../../robot_time/include/robot/robot_time_decl.h +sys/timeb.h +- +sys/time.h +- + +../include/costmap_2d/array_parser.h +vector +- +string +- + ../include/costmap_2d/cost_values.h ../include/costmap_2d/costmap_2d.h @@ -18,10 +70,14 @@ boost/thread.hpp geometry_msgs/Point.h - -../include/costmap_2d/costmap_layer.h -costmap_2d/layer.h +../include/costmap_2d/costmap_math.h +math.h - -costmap_2d/layered_costmap.h +algorithm +- +vector +- +geometry_msgs/Point.h - ../include/costmap_2d/footprint.h @@ -58,6 +114,34 @@ vector string - +../include/costmap_2d/observation.h +sensor_msgs/PointCloud2.h +- +geometry_msgs/Point.h +- + +../include/costmap_2d/observation_buffer.h +vector +- +list +- +string +- +chrono +- +costmap_2d/observation.h +- +tf2/buffer_core.h +- +sensor_msgs/PointCloud2.h +- +geometry_msgs/PointStamped.h +- +geometry_msgs/Point.h +- +boost/thread.hpp +- + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h cmath - @@ -66,6 +150,12 @@ iostream /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/std_msgs/Header.h +geometry_msgs/Point.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Point.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h vector - @@ -78,27 +168,69 @@ std_msgs/Header.h geometry_msgs/Polygon.h - +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h +cstdint +- +string +- +vector +- +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h +sensor_msgs/PointField.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h +cstdint +- +string +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h +sensor_msgs/PointCloud2.h +- +cstdarg +- +sstream +- +string +- +vector +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h +sensor_msgs/PointCloud2.h +- +cstdarg +- +string +- +vector +- +sensor_msgs/impl/point_cloud2_iterator.h +- + /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h string - -chrono -- cstdint - - -/home/duongtd/robotics_core/costmap_2d/src/costmap_2d.cpp -costmap_2d/costmap_2d.h -- -cstdio +robot/time.h - -/home/duongtd/robotics_core/costmap_2d/src/costmap_layer.cpp -costmap_2d/costmap_layer.h +/home/duongtd/robotics_core/costmap_2d/src/footprint.cpp +costmap_2d/costmap_math.h +- +boost/tokenizer.hpp +- +boost/foreach.hpp +- +boost/algorithm/string.hpp +- +costmap_2d/footprint.h +- +costmap_2d/array_parser.h - - -/home/duongtd/robotics_core/costmap_2d/src/layer.cpp -costmap_2d/layer.h -/home/duongtd/robotics_core/costmap_2d/src/costmap_2d/layer.h /home/duongtd/robotics_core/costmap_2d/src/layered_costmap.cpp costmap_2d/layered_costmap.h @@ -114,3 +246,13 @@ algorithm vector - +/home/duongtd/robotics_core/costmap_2d/src/observation_buffer.cpp +costmap_2d/observation_buffer.h +- +tf2/convert.h +- +sensor_msgs/point_cloud2_iterator.h +- +cstdint +- + diff --git a/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake b/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake index ccceada..103a598 100644 --- a/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake +++ b/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake @@ -17,18 +17,26 @@ set(CMAKE_CXX_COMPILER_ID "GNU") # Preprocessor definitions for this target. set(CMAKE_TARGET_DEFINITIONS_CXX - "BOOST_ALL_NO_LIB" - "BOOST_ATOMIC_DYN_LINK" - "BOOST_SYSTEM_DYN_LINK" - "BOOST_THREAD_DYN_LINK" + "DISABLE_LIBUSB_1_0" + "DISABLE_PCAP" + "DISABLE_PNG" + "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)" + "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" ) # The include file search paths: set(CMAKE_CXX_TARGET_INCLUDE_PATH + "/usr/include/vtk-7.1" + "/usr/include/freetype2" "../include" "/usr/include/eigen3" - "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include" + "/usr/include/pcl-1.10" + "/usr/include/ni" + "/usr/include/openni2" "/home/duongtd/robotics_core/common_msgs/std_msgs/include" + "../../robot_time/include" + "/home/duongtd/robotics_core/robot_time/include" + "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include" "/home/duongtd/robotics_core/common_msgs/geometry_msgs/include" "/home/duongtd/robotics_core/common_msgs/nav_msgs/include" "/home/duongtd/robotics_core/map_msgs/include" @@ -36,6 +44,7 @@ set(CMAKE_CXX_TARGET_INCLUDE_PATH # Targets to which this target links. set(CMAKE_TARGET_LINKED_INFO_FILES + "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/CMakeFiles/robot_time.dir/DependInfo.cmake" ) # Fortran module output directory. diff --git a/build/CMakeFiles/costmap_2d.dir/depend.internal b/build/CMakeFiles/costmap_2d.dir/depend.internal index 3dd7ffa..f334f69 100644 --- a/build/CMakeFiles/costmap_2d.dir/depend.internal +++ b/build/CMakeFiles/costmap_2d.dir/depend.internal @@ -20,6 +20,12 @@ CMakeFiles/costmap_2d.dir/src/costmap_math.cpp.o /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h /home/duongtd/robotics_core/costmap_2d/src/costmap_math.cpp CMakeFiles/costmap_2d.dir/src/footprint.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h ../include/costmap_2d/array_parser.h ../include/costmap_2d/costmap_math.h ../include/costmap_2d/footprint.h @@ -37,6 +43,12 @@ CMakeFiles/costmap_2d.dir/src/layer.cpp.o /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h /home/duongtd/robotics_core/costmap_2d/src/layer.cpp CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h ../include/costmap_2d/cost_values.h ../include/costmap_2d/costmap_2d.h ../include/costmap_2d/footprint.h @@ -49,6 +61,12 @@ CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h /home/duongtd/robotics_core/costmap_2d/src/layered_costmap.cpp CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h ../include/costmap_2d/observation.h ../include/costmap_2d/observation_buffer.h /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h diff --git a/build/CMakeFiles/costmap_2d.dir/depend.make b/build/CMakeFiles/costmap_2d.dir/depend.make index c832dfe..6cbca56 100644 --- a/build/CMakeFiles/costmap_2d.dir/depend.make +++ b/build/CMakeFiles/costmap_2d.dir/depend.make @@ -19,6 +19,12 @@ CMakeFiles/costmap_2d.dir/src/costmap_math.cpp.o: ../include/costmap_2d/costmap_ CMakeFiles/costmap_2d.dir/src/costmap_math.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h CMakeFiles/costmap_2d.dir/src/costmap_math.cpp.o: ../src/costmap_math.cpp +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/duration.h +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/exception.h +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/macros.h +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/platform.h +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/robot_time_decl.h +CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../../robot_time/include/robot/time.h CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../include/costmap_2d/array_parser.h CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../include/costmap_2d/costmap_math.h CMakeFiles/costmap_2d.dir/src/footprint.cpp.o: ../include/costmap_2d/footprint.h @@ -36,6 +42,12 @@ CMakeFiles/costmap_2d.dir/src/layer.cpp.o: ../include/costmap_2d/layered_costmap CMakeFiles/costmap_2d.dir/src/layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h CMakeFiles/costmap_2d.dir/src/layer.cpp.o: ../src/layer.cpp +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/duration.h +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/exception.h +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/macros.h +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/platform.h +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/robot_time_decl.h +CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../../robot_time/include/robot/time.h CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../include/costmap_2d/cost_values.h CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../include/costmap_2d/costmap_2d.h CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../include/costmap_2d/footprint.h @@ -48,6 +60,12 @@ CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: /home/duongtd/robotics_core CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h CMakeFiles/costmap_2d.dir/src/layered_costmap.cpp.o: ../src/layered_costmap.cpp +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/duration.h +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/exception.h +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/macros.h +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/platform.h +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/robot_time_decl.h +CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../../robot_time/include/robot/time.h CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../include/costmap_2d/observation.h CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: ../include/costmap_2d/observation_buffer.h CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h diff --git a/build/CMakeFiles/costmap_2d.dir/flags.make b/build/CMakeFiles/costmap_2d.dir/flags.make index 528ab90..119d18f 100644 --- a/build/CMakeFiles/costmap_2d.dir/flags.make +++ b/build/CMakeFiles/costmap_2d.dir/flags.make @@ -2,9 +2,9 @@ # Generated by "Unix Makefiles" Generator, CMake Version 3.16 # compile CXX with /usr/bin/c++ -CXX_FLAGS = -fPIC -std=gnu++17 +CXX_FLAGS = -fPIC -std=gnu++17 -CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK +CXX_DEFINES = -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" -CXX_INCLUDES = -I/home/duongtd/robotics_core/costmap_2d/include -I/usr/include/eigen3 -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/std_msgs/include -I/home/duongtd/robotics_core/common_msgs/geometry_msgs/include -I/home/duongtd/robotics_core/common_msgs/nav_msgs/include -I/home/duongtd/robotics_core/map_msgs/include +CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/robotics_core/costmap_2d/include -I/usr/include/eigen3 -I/usr/include/pcl-1.10 -I/usr/include/ni -I/usr/include/openni2 -I/home/duongtd/robotics_core/common_msgs/std_msgs/include -I/home/duongtd/robotics_core/costmap_2d/../robot_time/include -I/home/duongtd/robotics_core/robot_time/include -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/geometry_msgs/include -I/home/duongtd/robotics_core/common_msgs/nav_msgs/include -I/home/duongtd/robotics_core/map_msgs/include diff --git a/build/CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o b/build/CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o index 4db9d67..89f623c 100644 Binary files a/build/CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o and b/build/CMakeFiles/costmap_2d.dir/src/observation_buffer.cpp.o differ diff --git a/build/CMakeFiles/layers.dir/CXX.includecache b/build/CMakeFiles/layers.dir/CXX.includecache index 4966131..ffaf3b5 100644 --- a/build/CMakeFiles/layers.dir/CXX.includecache +++ b/build/CMakeFiles/layers.dir/CXX.includecache @@ -6,6 +6,52 @@ #IncludeRegexTransform: +../../robot_time/include/robot/duration.h +iostream +- +math.h +- +stdexcept +- +climits +- +stdint.h +- +robot_time_decl.h +../../robot_time/include/robot/robot_time_decl.h + +../../robot_time/include/robot/exception.h +stdexcept +- +string +- + +../../robot_time/include/robot/macros.h + +../../robot_time/include/robot/platform.h + +../../robot_time/include/robot/robot_time_decl.h +robot/macros.h +- + +../../robot_time/include/robot/time.h +robot/platform.h +- +iostream +- +cmath +- +robot/exception.h +- +duration.h +../../robot_time/include/robot/duration.h +robot_time_decl.h +../../robot_time/include/robot/robot_time_decl.h +sys/timeb.h +- +sys/time.h +- + ../include/costmap_2d/cost_values.h ../include/costmap_2d/costmap_2d.h @@ -18,6 +64,12 @@ boost/thread.hpp geometry_msgs/Point.h - +../include/costmap_2d/costmap_layer.h +costmap_2d/layer.h +- +costmap_2d/layered_costmap.h +- + ../include/costmap_2d/costmap_math.h math.h - @@ -28,6 +80,22 @@ vector geometry_msgs/Point.h - +../include/costmap_2d/critical_layer.h +costmap_2d/static_layer.h +- + +../include/costmap_2d/data_convert.h +geometry_msgs/TransformStamped.h +- +tf2/utils.h +- +tf2/compat.h +- + +../include/costmap_2d/directional_layer.h +costmap_2d/static_layer.h +- + ../include/costmap_2d/footprint.h geometry_msgs/Point32.h - @@ -74,10 +142,112 @@ vector string - +../include/costmap_2d/observation.h +sensor_msgs/PointCloud2.h +- +geometry_msgs/Point.h +- + +../include/costmap_2d/observation_buffer.h +vector +- +list +- +string +- +chrono +- +costmap_2d/observation.h +- +tf2/buffer_core.h +- +sensor_msgs/PointCloud2.h +- +geometry_msgs/PointStamped.h +- +geometry_msgs/Point.h +- +boost/thread.hpp +- + +../include/costmap_2d/obstacle_layer.h +costmap_2d/costmap_layer.h +- +costmap_2d/layered_costmap.h +- +costmap_2d/observation_buffer.h +- +costmap_2d/footprint.h +- +costmap_2d/utils.h +- +nav_msgs/OccupancyGrid.h +- +sensor_msgs/LaserScan.h +- +sensor_msgs/PointCloud.h +- +sensor_msgs/PointCloud2.h +- +sensor_msgs/point_cloud_conversion.h +- + +../include/costmap_2d/preferred_layer.h +costmap_2d/static_layer.h +- + +../include/costmap_2d/static_layer.h +costmap_2d/costmap_layer.h +- +costmap_2d/layered_costmap.h +- +nav_msgs/OccupancyGrid.h +- +map_msgs/OccupancyGridUpdate.h +- +string +- +geometry_msgs/TransformStamped.h +- + +../include/costmap_2d/unpreferred_layer.h +costmap_2d/static_layer.h +- + ../include/costmap_2d/utils.h yaml-cpp/yaml.h - +../include/costmap_2d/voxel_grid.h +std_msgs/Header.h +- +geometry_msgs/Point32.h +- +geometry_msgs/Vector3.h +- + +../include/costmap_2d/voxel_layer.h +costmap_2d/layer.h +- +costmap_2d/layered_costmap.h +- +costmap_2d/observation_buffer.h +- +costmap_2d/voxel_grid.h +- +nav_msgs/OccupancyGrid.h +- +sensor_msgs/LaserScan.h +- +sensor_msgs/PointCloud.h +- +sensor_msgs/PointCloud2.h +- +sensor_msgs/point_cloud_conversion.h +- +costmap_2d/obstacle_layer.h +- + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h cmath - @@ -86,6 +256,12 @@ iostream /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/std_msgs/Header.h +geometry_msgs/Point.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Point.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h vector - @@ -98,13 +274,149 @@ std_msgs/Header.h geometry_msgs/Polygon.h - +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h +cmath +- +iostream +- +geometry_msgs/Point.h +- +geometry_msgs/Quaternion.h +- + +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h + +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Transform.h +geometry_msgs/Vector3.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Vector3.h +geometry_msgs/Quaternion.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Quaternion.h + +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/std_msgs/Header.h +geometry_msgs/Transform.h +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Transform.h +string +- + +/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h + +/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h +cstdint +- +string +- +vector +- +geometry_msgs/Pose.h +/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/geometry_msgs/Pose.h + +/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h +cstdint +- +string +- +vector +- +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/std_msgs/Header.h +nav_msgs/MapMetaData.h +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/ChannelFloat32.h +string +- +vector +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/LaserScan.h +vector +- +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud.h +vector +- +string +- +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h +geometry_msgs/Point32.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/geometry_msgs/Point32.h +sensor_msgs/ChannelFloat32.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/ChannelFloat32.h + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h +cstdint +- +string +- +vector +- +std_msgs/Header.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h +sensor_msgs/PointField.h +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h +cstdint +- +string +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h +sensor_msgs/PointCloud2.h +- +cstdarg +- +sstream +- +string +- +vector +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h +sensor_msgs/PointCloud2.h +- +cstdarg +- +string +- +vector +- +sensor_msgs/impl/point_cloud2_iterator.h +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h +sensor_msgs/PointCloud.h +- +sensor_msgs/PointCloud2.h +- +sensor_msgs/point_field_conversion.h +- + +/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_field_conversion.h + /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h string - -chrono -- cstdint - +robot/time.h +- + +/home/duongtd/robotics_core/costmap_2d/plugins/critical_layer.cpp +costmap_2d/critical_layer.h +- +boost/dll/alias.hpp +- + +/home/duongtd/robotics_core/costmap_2d/plugins/directional_layer.cpp +costmap_2d/directional_layer.h +- /home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp algorithm @@ -122,3 +434,59 @@ boost/thread.hpp boost/dll/alias.hpp - +/home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp +costmap_2d/obstacle_layer.h +- +costmap_2d/costmap_math.h +- +sensor_msgs/point_cloud2_iterator.h +- +tf2/utils.h +- +boost/dll/alias.hpp +- + +/home/duongtd/robotics_core/costmap_2d/plugins/preferred_layer.cpp +costmap_2d/preferred_layer.h +- +boost/dll/alias.hpp +- + +/home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp +costmap_2d/static_layer.h +- +costmap_2d/costmap_math.h +- +costmap_2d/data_convert.h +- +costmap_2d/utils.h +- +tf2/convert.h +- +tf2/utils.h +- +boost/dll/alias.hpp +- + +/home/duongtd/robotics_core/costmap_2d/plugins/unpreferred_layer.cpp +costmap_2d/unpreferred_layer.h +- +boost/dll/alias.hpp +- + +/home/duongtd/robotics_core/costmap_2d/plugins/voxel_layer.cpp +costmap_2d/voxel_layer.h +- +costmap_2d/utils.h +- +boost/dll/alias.hpp +- +sensor_msgs/point_cloud2_iterator.h +- + +/home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h +vector +- +std_msgs/Header.h +/home/duongtd/robotics_core/map_msgs/include/map_msgs/std_msgs/Header.h + diff --git a/build/CMakeFiles/layers.dir/DependInfo.cmake b/build/CMakeFiles/layers.dir/DependInfo.cmake index c1eff33..ced9466 100644 --- a/build/CMakeFiles/layers.dir/DependInfo.cmake +++ b/build/CMakeFiles/layers.dir/DependInfo.cmake @@ -4,26 +4,39 @@ set(CMAKE_DEPENDS_LANGUAGES ) # The set of files for implicit dependencies of each language: set(CMAKE_DEPENDS_CHECK_CXX + "/home/duongtd/robotics_core/costmap_2d/plugins/critical_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/critical_layer.cpp.o" + "/home/duongtd/robotics_core/costmap_2d/plugins/directional_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/directional_layer.cpp.o" "/home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o" "/home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o" + "/home/duongtd/robotics_core/costmap_2d/plugins/preferred_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/preferred_layer.cpp.o" "/home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/static_layer.cpp.o" + "/home/duongtd/robotics_core/costmap_2d/plugins/unpreferred_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.o" + "/home/duongtd/robotics_core/costmap_2d/plugins/voxel_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/voxel_layer.cpp.o" ) set(CMAKE_CXX_COMPILER_ID "GNU") # Preprocessor definitions for this target. set(CMAKE_TARGET_DEFINITIONS_CXX - "BOOST_ALL_NO_LIB" - "BOOST_ATOMIC_DYN_LINK" - "BOOST_SYSTEM_DYN_LINK" - "BOOST_THREAD_DYN_LINK" + "DISABLE_LIBUSB_1_0" + "DISABLE_PCAP" + "DISABLE_PNG" + "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)" + "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" ) # The include file search paths: set(CMAKE_CXX_TARGET_INCLUDE_PATH + "/usr/include/vtk-7.1" + "/usr/include/freetype2" "../include" "/usr/include/eigen3" - "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include" + "/usr/include/pcl-1.10" + "/usr/include/ni" + "/usr/include/openni2" "/home/duongtd/robotics_core/common_msgs/std_msgs/include" + "../../robot_time/include" + "/home/duongtd/robotics_core/robot_time/include" + "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include" "/home/duongtd/robotics_core/common_msgs/geometry_msgs/include" "/home/duongtd/robotics_core/common_msgs/nav_msgs/include" "/home/duongtd/robotics_core/map_msgs/include" @@ -32,6 +45,7 @@ set(CMAKE_CXX_TARGET_INCLUDE_PATH # Targets to which this target links. set(CMAKE_TARGET_LINKED_INFO_FILES 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layers_OBJECTS = \ "CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o" \ "CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o" \ -"CMakeFiles/layers.dir/plugins/static_layer.cpp.o" +"CMakeFiles/layers.dir/plugins/static_layer.cpp.o" \ +"CMakeFiles/layers.dir/plugins/voxel_layer.cpp.o" \ +"CMakeFiles/layers.dir/plugins/preferred_layer.cpp.o" \ +"CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.o" \ +"CMakeFiles/layers.dir/plugins/critical_layer.cpp.o" \ +"CMakeFiles/layers.dir/plugins/directional_layer.cpp.o" # External object files for target layers layers_EXTERNAL_OBJECTS = @@ -108,9 +178,14 @@ layers_EXTERNAL_OBJECTS = liblayers.a: CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o liblayers.a: CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o liblayers.a: CMakeFiles/layers.dir/plugins/static_layer.cpp.o +liblayers.a: CMakeFiles/layers.dir/plugins/voxel_layer.cpp.o +liblayers.a: CMakeFiles/layers.dir/plugins/preferred_layer.cpp.o +liblayers.a: CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.o +liblayers.a: CMakeFiles/layers.dir/plugins/critical_layer.cpp.o +liblayers.a: CMakeFiles/layers.dir/plugins/directional_layer.cpp.o liblayers.a: CMakeFiles/layers.dir/build.make liblayers.a: CMakeFiles/layers.dir/link.txt - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_4) "Linking CXX static library liblayers.a" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_9) "Linking CXX static library liblayers.a" $(CMAKE_COMMAND) -P CMakeFiles/layers.dir/cmake_clean_target.cmake $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/layers.dir/link.txt --verbose=$(VERBOSE) diff --git a/build/CMakeFiles/layers.dir/cmake_clean.cmake b/build/CMakeFiles/layers.dir/cmake_clean.cmake index 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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h + /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h + /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h + /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h + /home/duongtd/robotics_core/costmap_2d/plugins/critical_layer.cpp + /home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h +CMakeFiles/layers.dir/plugins/directional_layer.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h + ../include/costmap_2d/cost_values.h + ../include/costmap_2d/costmap_2d.h + ../include/costmap_2d/costmap_layer.h + ../include/costmap_2d/directional_layer.h + ../include/costmap_2d/layer.h + ../include/costmap_2d/layered_costmap.h + ../include/costmap_2d/static_layer.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Transform.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h + /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h + /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h + /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h + /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h + /home/duongtd/robotics_core/costmap_2d/plugins/directional_layer.cpp + /home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h ../include/costmap_2d/cost_values.h ../include/costmap_2d/costmap_2d.h ../include/costmap_2d/costmap_math.h @@ -17,15 +73,23 @@ CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h /home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o + ../../robot_time/include/robot/duration.h + ../../robot_time/include/robot/exception.h + ../../robot_time/include/robot/macros.h + ../../robot_time/include/robot/platform.h + ../../robot_time/include/robot/robot_time_decl.h + ../../robot_time/include/robot/time.h ../include/costmap_2d/cost_values.h ../include/costmap_2d/costmap_2d.h ../include/costmap_2d/costmap_layer.h + ../include/costmap_2d/costmap_math.h ../include/costmap_2d/footprint.h ../include/costmap_2d/layer.h ../include/costmap_2d/layered_costmap.h ../include/costmap_2d/observation.h ../include/costmap_2d/observation_buffer.h ../include/costmap_2d/obstacle_layer.h + ../include/costmap_2d/utils.h /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h @@ -40,11 +104,44 @@ CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud.h 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+plugins/preferred_layer.s: plugins/preferred_layer.cpp.s + +.PHONY : plugins/preferred_layer.s + +# target to generate assembly for a file +plugins/preferred_layer.cpp.s: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/preferred_layer.cpp.s +.PHONY : plugins/preferred_layer.cpp.s + plugins/static_layer.o: plugins/static_layer.cpp.o .PHONY : plugins/static_layer.o @@ -256,6 +422,60 @@ plugins/static_layer.cpp.s: $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/static_layer.cpp.s .PHONY : plugins/static_layer.cpp.s +plugins/unpreferred_layer.o: plugins/unpreferred_layer.cpp.o + +.PHONY : plugins/unpreferred_layer.o + +# target to build an object file +plugins/unpreferred_layer.cpp.o: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.o +.PHONY : plugins/unpreferred_layer.cpp.o + +plugins/unpreferred_layer.i: plugins/unpreferred_layer.cpp.i + +.PHONY : plugins/unpreferred_layer.i + +# target to preprocess a source file +plugins/unpreferred_layer.cpp.i: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.i +.PHONY : plugins/unpreferred_layer.cpp.i + +plugins/unpreferred_layer.s: plugins/unpreferred_layer.cpp.s + +.PHONY : plugins/unpreferred_layer.s + +# target to generate assembly for a file +plugins/unpreferred_layer.cpp.s: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/unpreferred_layer.cpp.s +.PHONY : plugins/unpreferred_layer.cpp.s + +plugins/voxel_layer.o: plugins/voxel_layer.cpp.o + +.PHONY : plugins/voxel_layer.o + +# target to build an object file +plugins/voxel_layer.cpp.o: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/voxel_layer.cpp.o +.PHONY : plugins/voxel_layer.cpp.o + +plugins/voxel_layer.i: plugins/voxel_layer.cpp.i + +.PHONY : plugins/voxel_layer.i + +# target to preprocess a source file +plugins/voxel_layer.cpp.i: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/voxel_layer.cpp.i +.PHONY : plugins/voxel_layer.cpp.i + +plugins/voxel_layer.s: plugins/voxel_layer.cpp.s + +.PHONY : plugins/voxel_layer.s + +# target to generate assembly for a file +plugins/voxel_layer.cpp.s: + $(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/voxel_layer.cpp.s +.PHONY : plugins/voxel_layer.cpp.s + src/array_parser.o: src/array_parser.cpp.o .PHONY : src/array_parser.o @@ -532,6 +752,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... test_costmap" @echo "... test_array_parser" @@ -539,15 +763,33 @@ help: @echo "... edit_cache" @echo "... costmap_2d" @echo "... test_battery_state" + @echo "... robot_duration_test" + @echo "... robot_time_test" + @echo "... robot_time" + @echo "... plugins/critical_layer.o" + @echo "... plugins/critical_layer.i" + @echo "... plugins/critical_layer.s" + @echo "... plugins/directional_layer.o" + @echo "... plugins/directional_layer.i" + @echo "... plugins/directional_layer.s" @echo "... plugins/inflation_layer.o" @echo "... plugins/inflation_layer.i" @echo "... plugins/inflation_layer.s" @echo "... plugins/obstacle_layer.o" @echo "... plugins/obstacle_layer.i" @echo "... plugins/obstacle_layer.s" + @echo "... plugins/preferred_layer.o" + @echo "... plugins/preferred_layer.i" + @echo "... plugins/preferred_layer.s" @echo "... plugins/static_layer.o" @echo "... plugins/static_layer.i" @echo "... plugins/static_layer.s" + @echo "... plugins/unpreferred_layer.o" + @echo "... plugins/unpreferred_layer.i" + @echo "... plugins/unpreferred_layer.s" + @echo "... plugins/voxel_layer.o" + @echo "... plugins/voxel_layer.i" + @echo "... plugins/voxel_layer.s" @echo "... src/array_parser.o" @echo "... src/array_parser.i" @echo "... src/array_parser.s" diff --git a/build/geometry_msgs_build/Makefile b/build/geometry_msgs_build/Makefile index 304e93b..aaed377 100644 --- a/build/geometry_msgs_build/Makefile +++ b/build/geometry_msgs_build/Makefile @@ -56,6 +56,52 @@ CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build #============================================================================= # Targets provided globally by CMake. +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + # Special rule for the target rebuild_cache rebuild_cache: @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." @@ -116,6 +162,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... edit_cache" .PHONY : help diff --git a/build/libcostmap_2d.a b/build/libcostmap_2d.a index 6f29041..e74cade 100644 Binary files a/build/libcostmap_2d.a and b/build/libcostmap_2d.a differ diff --git a/build/liblayers.a b/build/liblayers.a index 0a479e9..f1304d8 100644 Binary files a/build/liblayers.a and b/build/liblayers.a differ diff --git a/build/map_msgs_build/Makefile b/build/map_msgs_build/Makefile index c3ad8a2..bc1cf9a 100644 --- a/build/map_msgs_build/Makefile +++ b/build/map_msgs_build/Makefile @@ -56,6 +56,52 @@ CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build #============================================================================= # Targets provided globally by CMake. +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + # Special rule for the target rebuild_cache rebuild_cache: @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." @@ -116,6 +162,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... edit_cache" .PHONY : help diff --git a/build/nav_msgs_build/Makefile b/build/nav_msgs_build/Makefile index cb4471f..0580f74 100644 --- a/build/nav_msgs_build/Makefile +++ b/build/nav_msgs_build/Makefile @@ -56,6 +56,52 @@ CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build #============================================================================= # Targets provided globally by CMake. +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + # Special rule for the target rebuild_cache rebuild_cache: @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." @@ -116,6 +162,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... edit_cache" .PHONY : help diff --git a/build/robot_time_build/CMakeFiles/CMakeDirectoryInformation.cmake b/build/robot_time_build/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..54a4871 --- /dev/null +++ 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robot::robot_time) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) 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file does not exist. 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no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... robot_duration_test" + @echo "... robot_time_test" + @echo "... robot_time" + @echo "... src/duration.o" + @echo "... src/duration.i" + @echo "... src/duration.s" + @echo "... src/rate.o" + @echo "... src/rate.i" + @echo "... src/rate.s" + @echo "... src/time.o" + @echo "... src/time.i" + @echo "... src/time.s" + @echo "... test/duration.o" + @echo "... test/duration.i" + @echo "... test/duration.s" + @echo "... test/time.o" + @echo "... test/time.i" + @echo "... test/time.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/build/robot_time_build/cmake_install.cmake b/build/robot_time_build/cmake_install.cmake new file mode 100644 index 0000000..1052727 --- /dev/null +++ b/build/robot_time_build/cmake_install.cmake @@ -0,0 +1,66 @@ +# Install script for directory: /home/duongtd/robotics_core/robot_time + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE STATIC_LIBRARY FILES "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/librobot_time.a") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/duongtd/robotics_core/robot_time/include/" FILES_MATCHING REGEX "/[^/]*\\.h$") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time/robot_timeTargets.cmake") + file(DIFFERENT EXPORT_FILE_CHANGED FILES + "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time/robot_timeTargets.cmake" + "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/CMakeFiles/Export/lib/cmake/robot_time/robot_timeTargets.cmake") + if(EXPORT_FILE_CHANGED) + file(GLOB OLD_CONFIG_FILES "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time/robot_timeTargets-*.cmake") + if(OLD_CONFIG_FILES) + message(STATUS "Old export file \"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time/robot_timeTargets.cmake\" will be replaced. Removing files [${OLD_CONFIG_FILES}].") + file(REMOVE ${OLD_CONFIG_FILES}) + endif() + endif() + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time" TYPE FILE FILES "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/CMakeFiles/Export/lib/cmake/robot_time/robot_timeTargets.cmake") + if("${CMAKE_INSTALL_CONFIG_NAME}" MATCHES "^()$") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/robot_time" TYPE FILE FILES "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/CMakeFiles/Export/lib/cmake/robot_time/robot_timeTargets-noconfig.cmake") + endif() +endif() + diff --git a/build/robot_time_build/librobot_time.a b/build/robot_time_build/librobot_time.a new file mode 100644 index 0000000..7e1c008 Binary files /dev/null and b/build/robot_time_build/librobot_time.a differ diff --git a/build/robot_time_build/robot_duration_test b/build/robot_time_build/robot_duration_test new file mode 100755 index 0000000..0c78198 Binary files /dev/null and b/build/robot_time_build/robot_duration_test differ diff --git a/build/robot_time_build/robot_time_test b/build/robot_time_build/robot_time_test new file mode 100755 index 0000000..7122cfc Binary files /dev/null and b/build/robot_time_build/robot_time_test differ diff --git a/build/sensor_msgs_build/CMakeFiles/progress.marks b/build/sensor_msgs_build/CMakeFiles/progress.marks index 0cfbf08..f599e28 100644 --- a/build/sensor_msgs_build/CMakeFiles/progress.marks +++ b/build/sensor_msgs_build/CMakeFiles/progress.marks @@ -1 +1 @@ -2 +10 diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/CXX.includecache b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/CXX.includecache index 5880a6d..8157594 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/CXX.includecache +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/CXX.includecache @@ -61,8 +61,54 @@ yaml-cpp/yaml.h /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h string - -chrono -- cstdint - +robot/time.h +- + +/home/duongtd/robotics_core/robot_time/include/robot/duration.h +iostream +- +math.h +- +stdexcept +- +climits +- +stdint.h +- +robot_time_decl.h +/home/duongtd/robotics_core/robot_time/include/robot/robot_time_decl.h + +/home/duongtd/robotics_core/robot_time/include/robot/exception.h +stdexcept +- +string +- + +/home/duongtd/robotics_core/robot_time/include/robot/macros.h + +/home/duongtd/robotics_core/robot_time/include/robot/platform.h + +/home/duongtd/robotics_core/robot_time/include/robot/robot_time_decl.h +robot/macros.h +- + +/home/duongtd/robotics_core/robot_time/include/robot/time.h +robot/platform.h +- +iostream +- +cmath +- +robot/exception.h +- +duration.h +/home/duongtd/robotics_core/robot_time/include/robot/duration.h +robot_time_decl.h +/home/duongtd/robotics_core/robot_time/include/robot/robot_time_decl.h +sys/timeb.h +- +sys/time.h +- diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/DependInfo.cmake b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/DependInfo.cmake index 8643432..fd8d012 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/DependInfo.cmake +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/DependInfo.cmake @@ -12,10 +12,13 @@ set(CMAKE_CXX_COMPILER_ID "GNU") set(CMAKE_CXX_TARGET_INCLUDE_PATH "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include" "/home/duongtd/robotics_core/common_msgs/std_msgs/include" + "/home/duongtd/robotics_core/costmap_2d/../robot_time/include" + "/home/duongtd/robotics_core/robot_time/include" ) # Targets to which this target links. set(CMAKE_TARGET_LINKED_INFO_FILES + "/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/CMakeFiles/robot_time.dir/DependInfo.cmake" ) # Fortran module output directory. diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make index e21bdf7..3fe7846 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make @@ -79,6 +79,7 @@ test_battery_state_EXTERNAL_OBJECTS = sensor_msgs_build/test_battery_state: sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o sensor_msgs_build/test_battery_state: sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make +sensor_msgs_build/test_battery_state: robot_time_build/librobot_time.a sensor_msgs_build/test_battery_state: sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX executable test_battery_state" cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && $(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/test_battery_state.dir/link.txt --verbose=$(VERBOSE) diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.internal b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.internal index 6fd2d92..4bd4bf9 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.internal +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.internal @@ -9,3 +9,9 @@ sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h + /home/duongtd/robotics_core/robot_time/include/robot/duration.h + /home/duongtd/robotics_core/robot_time/include/robot/exception.h + /home/duongtd/robotics_core/robot_time/include/robot/macros.h + /home/duongtd/robotics_core/robot_time/include/robot/platform.h + /home/duongtd/robotics_core/robot_time/include/robot/robot_time_decl.h + /home/duongtd/robotics_core/robot_time/include/robot/time.h diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.make b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.make index 5503ebb..79ebf98 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.make +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend.make @@ -8,4 +8,10 @@ sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duong sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/duration.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/exception.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/macros.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/platform.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/robot_time_decl.h +sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/robot_time/include/robot/time.h diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make index 146080a..a56ae02 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make @@ -6,5 +6,5 @@ CXX_FLAGS = -fPIE -std=gnu++17 CXX_DEFINES = -CXX_INCLUDES = -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/std_msgs/include +CXX_INCLUDES = -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/std_msgs/include -I/home/duongtd/robotics_core/costmap_2d/../robot_time/include -I/home/duongtd/robotics_core/robot_time/include diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt index fdf1b18..45e710f 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt @@ -1 +1 @@ -/usr/bin/c++ CMakeFiles/test_battery_state.dir/test/main.cpp.o -o test_battery_state -lyaml-cpp +/usr/bin/c++ CMakeFiles/test_battery_state.dir/test/main.cpp.o -o test_battery_state ../robot_time_build/librobot_time.a -lyaml-cpp diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make index d7d1be2..df87bc2 100644 --- a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make +++ b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make @@ -1,3 +1,3 @@ -CMAKE_PROGRESS_1 = 16 -CMAKE_PROGRESS_2 = 17 +CMAKE_PROGRESS_1 = 29 +CMAKE_PROGRESS_2 = 30 diff --git a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o index 5af4ddb..0cbba12 100644 Binary files a/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o and b/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o differ diff --git a/build/sensor_msgs_build/Makefile b/build/sensor_msgs_build/Makefile index 733b93c..0bde76b 100644 --- a/build/sensor_msgs_build/Makefile +++ b/build/sensor_msgs_build/Makefile @@ -56,6 +56,52 @@ CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build #============================================================================= # Targets provided globally by CMake. +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + # Special rule for the target rebuild_cache rebuild_cache: @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." @@ -158,6 +204,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... edit_cache" @echo "... test_battery_state" diff --git a/build/sensor_msgs_build/test_battery_state b/build/sensor_msgs_build/test_battery_state index 530077a..f583149 100755 Binary files a/build/sensor_msgs_build/test_battery_state and b/build/sensor_msgs_build/test_battery_state differ diff --git a/build/std_msgs_build/CMakeFiles/progress.marks b/build/std_msgs_build/CMakeFiles/progress.marks index 573541a..45a4fb7 100644 --- a/build/std_msgs_build/CMakeFiles/progress.marks +++ b/build/std_msgs_build/CMakeFiles/progress.marks @@ -1 +1 @@ -0 +8 diff --git a/build/std_msgs_build/Makefile b/build/std_msgs_build/Makefile index de05e1d..2ae8011 100644 --- a/build/std_msgs_build/Makefile +++ b/build/std_msgs_build/Makefile @@ -56,6 +56,52 @@ CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build #============================================================================= # Targets provided globally by CMake. +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + # Special rule for the target rebuild_cache rebuild_cache: @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." @@ -116,6 +162,10 @@ help: @echo "... all (the default if no target is provided)" @echo "... clean" @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" @echo "... rebuild_cache" @echo "... edit_cache" .PHONY : help diff --git a/build/std_msgs_build/cmake_install.cmake b/build/std_msgs_build/cmake_install.cmake index da51daa..ccdafa2 100644 --- a/build/std_msgs_build/cmake_install.cmake +++ b/build/std_msgs_build/cmake_install.cmake @@ -37,3 +37,9 @@ if(NOT DEFINED CMAKE_CROSSCOMPILING) set(CMAKE_CROSSCOMPILING "FALSE") endif() +if(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + include("/home/duongtd/robotics_core/costmap_2d/build/robot_time_build/cmake_install.cmake") + +endif() + diff --git a/include/costmap_2d/costmap_2d.h b/include/costmap_2d/costmap_2d.h index 2a6442f..83ec6ac 100644 --- a/include/costmap_2d/costmap_2d.h +++ b/include/costmap_2d/costmap_2d.h @@ -25,7 +25,7 @@ struct MapLocation */ class Costmap2D { - // friend class CostmapTester; // Cho phép lớp test (gtest) truy cập vào các thành viên private + friend class CostmapTester; // Cho phép lớp test (gtest) truy cập vào các thành viên private public: /** * Constructor khởi tạo bản đồ costmap diff --git a/include/costmap_2d/costmap_layer.h b/include/costmap_2d/costmap_layer.h index d2929a6..8514740 100644 --- a/include/costmap_2d/costmap_layer.h +++ b/include/costmap_2d/costmap_layer.h @@ -146,5 +146,7 @@ private: double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_; }; +using PluginCostmapLayerPtr = std::shared_ptr; + } // namespace costmap_2d #endif // COSTMAP_2D_COSTMAP_LAYER_H_ diff --git a/include/costmap_2d/critical_layer copy.h b/include/costmap_2d/critical_layer copy.h new file mode 100644 index 0000000..eb4e3ee --- /dev/null +++ b/include/costmap_2d/critical_layer copy.h @@ -0,0 +1,19 @@ +#ifndef COSTMAP_2D_CRITICAL_LAYER_H_ +#define COSTMAP_2D_CRITICAL_LAYER_H_ + +#include + +namespace costmap_2d +{ +class CriticalLayer : public StaticLayer +{ +public: + CriticalLayer(); + virtual ~CriticalLayer(); +private: + unsigned char interpretValue(unsigned char value); + void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); +}; +} + +#endif // COSTMAP_2D_CRITICAL_LAYER_H_ \ No newline at end of file diff --git a/include/costmap_2d/data_convert.h b/include/costmap_2d/data_convert.h new file mode 100644 index 0000000..40ad66b --- /dev/null +++ b/include/costmap_2d/data_convert.h @@ -0,0 +1,100 @@ +#ifndef DATA_CONVERT_H +#define DATA_CONVERT_H + +#include +#include +#include +#include + +namespace costmap_2d +{ + robot::Time convertTime(tf2::Time time) + { + robot::Time time_tmp; + time_tmp.sec = time.sec; + time_tmp.nsec = time.nsec; + return time_tmp; + } + + tf2::Time convertTime(robot::Time time) + { + tf2::Time time_tmp; + time_tmp.sec = time.sec; + time_tmp.nsec = time.nsec; + return time_tmp; + } + + + tf2::Transform convertToTf2Transform(const geometry_msgs::Transform& msg) + { + tf2::Quaternion q( + msg.rotation.x, + msg.rotation.y, + msg.rotation.z, + msg.rotation.w + ); + + tf2::Vector3 t( + msg.translation.x, + msg.translation.y, + msg.translation.z + ); + + tf2::Transform tf(q, t); + return tf; + } + + tf2::Transform convertToTf2Transform(const tf2::TransformMsg& msg) + { + tf2::Quaternion q( + msg.rotation.x, + msg.rotation.y, + msg.rotation.z, + msg.rotation.w + ); + + tf2::Vector3 t( + msg.translation.x, + msg.translation.y, + msg.translation.z + ); + + tf2::Transform tf(q, t); + return tf; + } + + tf2::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg) + { + tf2::TransformStampedMsg out; + out.header.seq = msg.header.seq; + out.header.stamp = convertTime(msg.header.stamp); + out.header.frame_id = msg.header.frame_id; + out.child_frame_id = msg.child_frame_id; + out.transform.translation.x = msg.transform.translation.x; + out.transform.translation.y = msg.transform.translation.y; + out.transform.translation.z = msg.transform.translation.z; + out.transform.rotation.x = msg.transform.rotation.x; + out.transform.rotation.y = msg.transform.rotation.y; + out.transform.rotation.z = msg.transform.rotation.z; + out.transform.rotation.w = msg.transform.rotation.w; + return out; + } + geometry_msgs::TransformStamped convertToTransformStamped(const tf2::TransformStampedMsg& msg) + { + geometry_msgs::TransformStamped out; + out.header.seq = msg.header.seq; + out.header.stamp = convertTime(msg.header.stamp); + out.header.frame_id = msg.header.frame_id; + out.child_frame_id = msg.child_frame_id; + out.transform.translation.x = msg.transform.translation.x; + out.transform.translation.y = msg.transform.translation.y; + out.transform.translation.z = msg.transform.translation.z; + out.transform.rotation.x = msg.transform.rotation.x; + out.transform.rotation.y = msg.transform.rotation.y; + out.transform.rotation.z = msg.transform.rotation.z; + out.transform.rotation.w = msg.transform.rotation.w; + return out; + } +} + +#endif // DATA_CONVERT_H \ No newline at end of file diff --git a/include/costmap_2d/directional_layer.h b/include/costmap_2d/directional_layer.h new file mode 100644 index 0000000..c3628b3 --- /dev/null +++ b/include/costmap_2d/directional_layer.h @@ -0,0 +1,37 @@ +#ifndef COSTMAP_2D_DIRECTIONAL_LAYER_V1_H_ +#define COSTMAP_2D_DIRECTIONAL_LAYER_V1_H_ + +#include +// #include +// #include + +namespace costmap_2d +{ + class DirectionalLayer : public StaticLayer + { + public: + DirectionalLayer(); + virtual ~DirectionalLayer(); + // bool laneFilter(const std::vector plan); + void resetMap(); + + private: + // void incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map); + // bool laneFilter(std::vector> new_map, const nav_msgs::Path path); + unsigned char laneFilter(unsigned int x, unsigned int y, double yaw_robot); + // void laneFilter(std::vector x, std::vector y, std::vector yaw_robot); + void laneFilter(std::vector> x, std::vector> y, std::vector yaw_robot); + bool inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance); + void convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th); + bool getRobotPose(double &x, double &y, double &yaw); + + std::vector> directional_areas_; + double pose_x_, pose_y_, pose_yaw_; + double distance_skip_ = 1.0; + // ros::Publisher lane_mask_pub_; + nav_msgs::OccupancyGrid new_map_; + // tf::TransformListener listener_; + }; +} + +#endif // COSTMAP_2D_DIRECTIONAL_LAYER_H_ \ No newline at end of file diff --git a/include/costmap_2d/footprint.h b/include/costmap_2d/footprint.h index b57d0cc..503954d 100644 --- a/include/costmap_2d/footprint.h +++ b/include/costmap_2d/footprint.h @@ -41,7 +41,6 @@ #include #include -// #include #include #include diff --git a/include/costmap_2d/inflation_layer.h b/include/costmap_2d/inflation_layer.h index 50a6137..d1d21d7 100644 --- a/include/costmap_2d/inflation_layer.h +++ b/include/costmap_2d/inflation_layer.h @@ -5,10 +5,9 @@ #include #include #include -#include #include #include -#include + namespace costmap_2d { diff --git a/include/costmap_2d/layer.h b/include/costmap_2d/layer.h index 69fe5dc..6890bbd 100644 --- a/include/costmap_2d/layer.h +++ b/include/costmap_2d/layer.h @@ -147,9 +147,6 @@ private: }; -using PluginPtr = std::shared_ptr; - - } // namespace costmap_2d #endif // COSTMAP_2D_LAYER_H_ diff --git a/include/costmap_2d/msg.h b/include/costmap_2d/msg.h deleted file mode 100644 index 524f8dd..0000000 --- a/include/costmap_2d/msg.h +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef COSTMAP_2D_COST_VALUES_H_MSG -#define COSTMAP_2D_COST_VALUES_H_MSG -/** Provides a mapping for often used cost values */ -#include -#include -#include - -namespace costmap_2d -{ - struct Header - { - uint32_t seq; - std::chrono::system_clock::time_point stamp; - std::string frame_id; - }; - - struct Point - { - double x; - double y; - double z; - }; - - struct Point32 - { - float x; - float y; - float z; - }; - - struct PointStamped - { - Header header; - Point point; - }; - - struct Polygon - { - std::vector points; - }; - - struct PolygonStamped - { - // std_msgs/Header header; // Ignored for simplicity - Polygon polygon; - }; - - struct XmlRpcValue - { - std::vector points; - }; - - struct PointField - { - uint8_t INT8=1; - uint8_t UINT8=2; - uint8_t INT16=3; - uint8_t UINT16=4; - uint8_t INT32=5; - uint8_t UINT32=6; - uint8_t FLOAT32=7; - uint8_t FLOAT64=8; - std::string name; - uint32_t offset; - uint8_t datatype; - uint32_t count; - }; - - struct PointCloud2 - { - Header header; - uint32_t height; - uint32_t width; - std::vector fields; - bool is_bigendian; - uint32_t point_step; - uint32_t row_step; - std::vector data; - bool is_dense; - }; - - - -} -#endif // COSTMAP_2D_COST_VALUES_H_MSG diff --git a/include/costmap_2d/observation_buffer.h b/include/costmap_2d/observation_buffer.h index 60ff251..0572103 100644 --- a/include/costmap_2d/observation_buffer.h +++ b/include/costmap_2d/observation_buffer.h @@ -6,9 +6,8 @@ #include #include // #include -// #include -// #include - +#include +#include #include #include #include @@ -112,9 +111,9 @@ private: // const ros::Duration observation_keep_time_; // const ros::Duration expected_update_rate_; // ros::Time last_updated_; - const std::chrono::duration observation_keep_time_; - const std::chrono::duration expected_update_rate_; - std::chrono::time_point last_updated_; + const robot::Duration observation_keep_time_; + const robot::Duration expected_update_rate_; + robot::Time last_updated_; std::string global_frame_; std::string sensor_frame_; std::list observation_list_; diff --git a/include/costmap_2d/obstacle_layer.h b/include/costmap_2d/obstacle_layer.h index 61524e2..4eff519 100644 --- a/include/costmap_2d/obstacle_layer.h +++ b/include/costmap_2d/obstacle_layer.h @@ -41,19 +41,19 @@ #include #include #include +#include +#include #include #include -// #include #include #include #include + +// #include // #include // #include -// #include -// #include -#include namespace costmap_2d { diff --git a/include/costmap_2d/preferred_layer.h b/include/costmap_2d/preferred_layer.h new file mode 100644 index 0000000..ac192ea --- /dev/null +++ b/include/costmap_2d/preferred_layer.h @@ -0,0 +1,18 @@ +#ifndef COSTMAP_2D_PREFERRED_LAYER_H_ +#define COSTMAP_2D_PREFERRED_LAYER_H_ + +#include + +namespace costmap_2d +{ +class PreferredLayer : public StaticLayer +{ +public: + PreferredLayer(); + virtual ~PreferredLayer(); +private: + unsigned char interpretValue(unsigned char value); +}; +} + +#endif // COSTMAP_2D_PREFERRED_LAYER_ \ No newline at end of file diff --git a/include/costmap_2d/static_layer.h b/include/costmap_2d/static_layer.h index c40bfb1..b36163d 100644 --- a/include/costmap_2d/static_layer.h +++ b/include/costmap_2d/static_layer.h @@ -3,8 +3,6 @@ #include #include -// #include -// #include #include #include // #include @@ -46,6 +44,8 @@ protected: bool use_maximum_; bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing bool trinary_costmap_; + bool map_shutdown_ = false; + bool map_update_shutdown_ = false; // ros::Subscriber map_sub_, map_update_sub_; unsigned char lethal_threshold_, unknown_cost_value_; @@ -58,6 +58,7 @@ private: */ // void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level); // dynamic_reconfigure::Server *dsrv_; + bool getParams(); }; } // namespace costmap_2d diff --git a/include/costmap_2d/testing_helper.h b/include/costmap_2d/testing_helper.h new file mode 100644 index 0000000..0a2bdc0 --- /dev/null +++ b/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/include/costmap_2d/unpreferred_layer.h b/include/costmap_2d/unpreferred_layer.h new file mode 100644 index 0000000..96e1c07 --- /dev/null +++ b/include/costmap_2d/unpreferred_layer.h @@ -0,0 +1,21 @@ +#ifndef COSTMAP_2D_UNPREFERRED_LAYER_H_ +#define COSTMAP_2D_UNPREFERRED_LAYER_H_ + +#include + +namespace costmap_2d +{ +class UnPreferredLayer : public StaticLayer +{ +public: + UnPreferredLayer(); + virtual ~UnPreferredLayer(); + +private: + unsigned char interpretValue(unsigned char value); + +}; + +} + +#endif // COSTMAP_2D_UNPREFERRED_LAYER_ \ No newline at end of file diff --git a/include/costmap_2d/utils.h b/include/costmap_2d/utils.h new file mode 100644 index 0000000..aee2b9f --- /dev/null +++ b/include/costmap_2d/utils.h @@ -0,0 +1,17 @@ +#ifndef COSTMAP_2D_UTILS_H +#define COSTMAP_2D_UTILS_H +#include + +namespace costmap_2d +{ + template + T loadParam(const YAML::Node& node, const std::string& key, const T& default_value) + { + if (node[key] && node[key].IsDefined()) + return node[key].as(); + return default_value; + } + +} + +#endif // COSTMAP_2D_UTILS_H \ No newline at end of file diff --git a/include/costmap_2d/voxel_grid.h b/include/costmap_2d/voxel_grid.h new file mode 100644 index 0000000..ce838b9 --- /dev/null +++ b/include/costmap_2d/voxel_grid.h @@ -0,0 +1,30 @@ +// Header header +// uint32_t[] data +// geometry_msgs/Point32 origin +// geometry_msgs/Vector3 resolutions +// uint32_t size_x +// uint32_t size_y +// uint32_t size_z +#ifndef COSTMAP_2D_VOXEL_GRID_H_ +#define COSTMAP_2D_VOXEL_GRID_H_ + +#include +#include +#include + +namespace costmap_2d +{ + struct VoxelGrid + { + std_msgs::Header header; + std::vector data; + geometry_msgs::Point32 origin; + geometry_msgs::Vector3 resolutions; + uint32_t size_x; + uint32_t size_y; + uint32_t size_z; + }; +} + + +#endif // COSTMAP_2D_VOXEL_GRID_H_ \ No newline at end of file diff --git a/include/costmap_2d/voxel_layer.h b/include/costmap_2d/voxel_layer.h new file mode 100644 index 0000000..f7ec71e --- /dev/null +++ b/include/costmap_2d/voxel_layer.h @@ -0,0 +1,149 @@ +/********************************************************************* + * + * 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/plugins/critical_layer.cpp b/plugins/critical_layer.cpp index d695165..2229445 100644 --- a/plugins/critical_layer.cpp +++ b/plugins/critical_layer.cpp @@ -1,8 +1,5 @@ #include #include -#include "shared.h" - -PLUGINLIB_EXPORT_CLASS(costmap_2d::CriticalLayer, costmap_2d::Layer) using costmap_2d::NO_INFORMATION; using costmap_2d::LETHAL_OBSTACLE; @@ -35,4 +32,12 @@ void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, i updateWithMax(master_grid, min_i, min_j, max_i, max_j); } + +// Export factory function +static PluginPtr create_critical_plugin() { + return std::make_shared(); +} + +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(create_critical_plugin, create_plugin) } \ No newline at end of file diff --git a/plugins/directional_layer.cpp b/plugins/directional_layer.cpp index be4bd40..eaf66e0 100644 --- a/plugins/directional_layer.cpp +++ b/plugins/directional_layer.cpp @@ -1,11 +1,11 @@ #include -#include -#include -#include -#include -#include +// #include +// #include +// #include +// #include +// #include -PLUGINLIB_EXPORT_CLASS(costmap_2d::DirectionalLayer, costmap_2d::Layer) +// PLUGINLIB_EXPORT_CLASS(costmap_2d::DirectionalLayer, costmap_2d::Layer) #define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) @@ -15,398 +15,398 @@ using costmap_2d::NO_INFORMATION; namespace costmap_2d { - DirectionalLayer::DirectionalLayer() - { - ros::NodeHandle nh("~/" + name_); - lane_mask_pub_ = nh.advertise("/direction_zones/lanes", 1); - } - DirectionalLayer::~DirectionalLayer() {} + // DirectionalLayer::DirectionalLayer() + // { + // ros::NodeHandle nh("~/" + name_); + // lane_mask_pub_ = nh.advertise("/direction_zones/lanes", 1); + // } + // DirectionalLayer::~DirectionalLayer() {} - bool DirectionalLayer::laneFilter(const std::vector plan) - { - if (directional_areas_.empty()) - throw "Has no map data"; - nav_msgs::Path path; - path.header.stamp = ros::Time::now(); - path.header.frame_id = map_frame_; - path.poses = plan; - return this->laneFilter(directional_areas_, path); - } + // bool DirectionalLayer::laneFilter(const std::vector plan) + // { + // if (directional_areas_.empty()) + // throw "Has no map data"; + // nav_msgs::Path path; + // path.header.stamp = ros::Time::now(); + // path.header.frame_id = map_frame_; + // path.poses = plan; + // return this->laneFilter(directional_areas_, path); + // } - void DirectionalLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map) - { - unsigned int size_x = new_map->info.width, size_y = new_map->info.height; + // void DirectionalLayer::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 / 2, size_y / 2, new_map->info.resolution); + // ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x / 2, size_y / 2, 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 / 2 || - master->getSizeInCellsY() != size_y / 2 || - 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 / 2, size_y / 2, new_map->info.resolution); - layered_costmap_->resizeMap(size_x / 2, size_y / 2, 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 / 2 || size_y_ != size_y / 2 || - 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 / 2, size_y / 2, new_map->info.resolution); - resizeMap(size_x / 2, size_y / 2, new_map->info.resolution, - new_map->info.origin.position.x, new_map->info.origin.position.y); - } - unsigned char values[4]; - directional_areas_.clear(); - directional_areas_.resize(size_x / 2 * size_y / 2); - // initialize the costmap with static data - for (unsigned int iy = 0; iy < size_y; iy += 2) - { - for (unsigned int ix = 0; ix < size_x; ix += 2) - { - values[0] = new_map->data[MAP_IDX(size_x, ix, iy)]; - values[1] = new_map->data[MAP_IDX(size_x, ix + 1, iy)]; - values[2] = new_map->data[MAP_IDX(size_x, ix, iy + 1)]; - values[3] = new_map->data[MAP_IDX(size_x, ix + 1, iy + 1)]; - uint32_t color_avg = (uint32_t)(values[0] | values[1] << 8u | values[2] << 16u | values[3] << 24u); - int index = getIndex(ix / 2, iy / 2); - directional_areas_[index][0] = (uint16_t)(color_avg & 0xfff); - directional_areas_[index][1] = (uint16_t)(color_avg >> 12u); - costmap_[index] = costmap_2d::NO_INFORMATION; - } - } - map_frame_ = new_map->header.frame_id; + // // resize costmap if size, resolution or origin do not match + // Costmap2D *master = layered_costmap_->getCostmap(); + // if (!layered_costmap_->isRolling() && + // (master->getSizeInCellsX() != size_x / 2 || + // master->getSizeInCellsY() != size_y / 2 || + // 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 / 2, size_y / 2, new_map->info.resolution); + // layered_costmap_->resizeMap(size_x / 2, size_y / 2, 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 / 2 || size_y_ != size_y / 2 || + // 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 / 2, size_y / 2, new_map->info.resolution); + // resizeMap(size_x / 2, size_y / 2, new_map->info.resolution, + // new_map->info.origin.position.x, new_map->info.origin.position.y); + // } + // unsigned char values[4]; + // directional_areas_.clear(); + // directional_areas_.resize(size_x / 2 * size_y / 2); + // // initialize the costmap with static data + // for (unsigned int iy = 0; iy < size_y; iy += 2) + // { + // for (unsigned int ix = 0; ix < size_x; ix += 2) + // { + // values[0] = new_map->data[MAP_IDX(size_x, ix, iy)]; + // values[1] = new_map->data[MAP_IDX(size_x, ix + 1, iy)]; + // values[2] = new_map->data[MAP_IDX(size_x, ix, iy + 1)]; + // values[3] = new_map->data[MAP_IDX(size_x, ix + 1, iy + 1)]; + // uint32_t color_avg = (uint32_t)(values[0] | values[1] << 8u | values[2] << 16u | values[3] << 24u); + // int index = getIndex(ix / 2, iy / 2); + // directional_areas_[index][0] = (uint16_t)(color_avg & 0xfff); + // directional_areas_[index][1] = (uint16_t)(color_avg >> 12u); + // costmap_[index] = costmap_2d::NO_INFORMATION; + // } + // } + // 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; + // // 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; - new_map_.header = new_map->header; - new_map_.header.stamp = ros::Time::now(); - new_map_.info = new_map->info; - new_map_.info.width = width_; - new_map_.info.height = height_; + // new_map_.header = new_map->header; + // new_map_.header.stamp = ros::Time::now(); + // new_map_.info = new_map->info; + // new_map_.info.width = width_; + // new_map_.info.height = height_; - // 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(); - } - } + // // 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(); + // } + // } - bool DirectionalLayer::laneFilter(std::vector> new_map, const nav_msgs::Path path) - { - boost::unique_lock lock(*layered_costmap_->getCostmap()->getMutex()); - if (new_map.empty()) - return false; + // bool DirectionalLayer::laneFilter(std::vector> new_map, const nav_msgs::Path path) + // { + // boost::unique_lock lock(*layered_costmap_->getCostmap()->getMutex()); + // if (new_map.empty()) + // return false; - std::vector> X_List, Y_List; - std::vector Yaw_list; + // std::vector> X_List, Y_List; + // std::vector Yaw_list; - const geometry_msgs::PoseStamped &e = path.poses.back(); + // const geometry_msgs::PoseStamped &e = path.poses.back(); - bool get_success = getRobotPose(pose_x_, pose_y_, pose_yaw_); - if(!get_success) return false; - for (auto it = path.poses.begin(); it != path.poses.end(); ++it) - { - const geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator - unsigned int mx, my; - if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my)) - { - ROS_ERROR("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y); - return false; - } - // Convert to yaw - tf::Quaternion quaternion; - tf::quaternionMsgToTF(p.pose.orientation, quaternion); - double theta = tf::getYaw(quaternion); - unsigned char value = laneFilter(mx, my, theta); - if (get_success) - { - if ( - (!inSkipErea(pose_x_, pose_y_, p.pose.position.x, p.pose.position.y, distance_skip_) & - !inSkipErea(p.pose.position.x, p.pose.position.y, e.pose.position.x, e.pose.position.y, distance_skip_)) - || p == path.poses.back() - ) - { - if (value == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || value == costmap_2d::LETHAL_OBSTACLE) - { - std::pair x_val(mx, p.pose.position.x); - std::pair y_val(my, p.pose.position.y); - X_List.push_back(x_val); - Y_List.push_back(y_val); - Yaw_list.push_back(theta); - // costmap_[getIndex(mx, my)] = value; - } - } - } - } - if (!Yaw_list.empty()) - { - laneFilter(X_List, Y_List, Yaw_list); - nav_msgs::OccupancyGrid lanes; - convertToMap(costmap_, lanes, 0.65, 0.196); - lane_mask_pub_.publish(lanes); - return false; - } - return true; + // bool get_success = getRobotPose(pose_x_, pose_y_, pose_yaw_); + // if(!get_success) return false; + // for (auto it = path.poses.begin(); it != path.poses.end(); ++it) + // { + // const geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator + // unsigned int mx, my; + // if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my)) + // { + // ROS_ERROR("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y); + // return false; + // } + // // Convert to yaw + // tf::Quaternion quaternion; + // tf::quaternionMsgToTF(p.pose.orientation, quaternion); + // double theta = tf::getYaw(quaternion); + // unsigned char value = laneFilter(mx, my, theta); + // if (get_success) + // { + // if ( + // (!inSkipErea(pose_x_, pose_y_, p.pose.position.x, p.pose.position.y, distance_skip_) & + // !inSkipErea(p.pose.position.x, p.pose.position.y, e.pose.position.x, e.pose.position.y, distance_skip_)) + // || p == path.poses.back() + // ) + // { + // if (value == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || value == costmap_2d::LETHAL_OBSTACLE) + // { + // std::pair x_val(mx, p.pose.position.x); + // std::pair y_val(my, p.pose.position.y); + // X_List.push_back(x_val); + // Y_List.push_back(y_val); + // Yaw_list.push_back(theta); + // // costmap_[getIndex(mx, my)] = value; + // } + // } + // } + // } + // if (!Yaw_list.empty()) + // { + // laneFilter(X_List, Y_List, Yaw_list); + // nav_msgs::OccupancyGrid lanes; + // convertToMap(costmap_, lanes, 0.65, 0.196); + // lane_mask_pub_.publish(lanes); + // return false; + // } + // return true; - } + // } - void DirectionalLayer::convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th) - { - dir_map.header = new_map_.header; - dir_map.header.stamp = ros::Time::now(); - dir_map.info = new_map_.info; - int size_costmap = new_map_.info.width * new_map_.info.height; - dir_map.data.resize(size_costmap); - for (int i = 0; i < size_costmap; i++) - { - int8_t value; - if (costmap[i] == costmap_2d::NO_INFORMATION) - { - value = -1; - } - else - { - double occ = (costmap[i]) / 255.0; - if (occ > occ_th) - value = +100; - else if (occ < free_th) - value = 0; - else - { - double ratio = (occ - free_th) / (occ_th - free_th); - value = 1 + 98 * ratio; - } - } - dir_map.data[i] = value; - } - } + // void DirectionalLayer::convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th) + // { + // dir_map.header = new_map_.header; + // dir_map.header.stamp = ros::Time::now(); + // dir_map.info = new_map_.info; + // int size_costmap = new_map_.info.width * new_map_.info.height; + // dir_map.data.resize(size_costmap); + // for (int i = 0; i < size_costmap; i++) + // { + // int8_t value; + // if (costmap[i] == costmap_2d::NO_INFORMATION) + // { + // value = -1; + // } + // else + // { + // double occ = (costmap[i]) / 255.0; + // if (occ > occ_th) + // value = +100; + // else if (occ < free_th) + // value = 0; + // else + // { + // double ratio = (occ - free_th) / (occ_th - free_th); + // value = 1 + 98 * ratio; + // } + // } + // dir_map.data[i] = value; + // } + // } - unsigned char DirectionalLayer::laneFilter(unsigned int x, unsigned int y, double yaw_robot) - { - double yaw_lane; - unsigned char cost = costmap_2d::NO_INFORMATION; + // unsigned char DirectionalLayer::laneFilter(unsigned int x, unsigned int y, double yaw_robot) + // { + // double yaw_lane; + // unsigned char cost = costmap_2d::NO_INFORMATION; - int index = getIndex(x, y); - for (auto &lane : directional_areas_[index]) - { - if (lane > 359) - { - cost = std::min(cost, costmap_2d::NO_INFORMATION); - } - else - { - double yaw_lane = (double)lane / 180 * M_PI; - if (0.4 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= 1.0) - cost = std::min(cost, costmap_2d::FREE_SPACE); - else if (-1.0 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= -0.4) - cost = std::min(cost, costmap_2d::LETHAL_OBSTACLE); - else - cost = std::min(cost, costmap_2d::NO_INFORMATION); - } - } - return cost; - } + // int index = getIndex(x, y); + // for (auto &lane : directional_areas_[index]) + // { + // if (lane > 359) + // { + // cost = std::min(cost, costmap_2d::NO_INFORMATION); + // } + // else + // { + // double yaw_lane = (double)lane / 180 * M_PI; + // if (0.4 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= 1.0) + // cost = std::min(cost, costmap_2d::FREE_SPACE); + // else if (-1.0 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= -0.4) + // cost = std::min(cost, costmap_2d::LETHAL_OBSTACLE); + // else + // cost = std::min(cost, costmap_2d::NO_INFORMATION); + // } + // } + // return cost; + // } - void DirectionalLayer::laneFilter(std::vector> x, - std::vector> y, - std::vector yaw_robot) - { - if(x.empty() || y.empty() || yaw_robot.empty()) - return; + // void DirectionalLayer::laneFilter(std::vector> x, + // std::vector> y, + // std::vector yaw_robot) + // { + // if(x.empty() || y.empty() || yaw_robot.empty()) + // return; - unsigned int x_min, y_min, x_max, y_max; - double x_min_w, y_min_w, x_max_w, y_max_w; + // unsigned int x_min, y_min, x_max, y_max; + // double x_min_w, y_min_w, x_max_w, y_max_w; - x_min = x.front().first; y_min = y.front().first; - x_max = x.front().first; y_max = y.front().first; - x_min_w = x.front().second; y_min_w = y.front().second; - x_max_w = x.front().second; y_max_w = y.front().second; - for (int i = 1; i < yaw_robot.size(); i++) - { - if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_)) - continue; - x_min = std::min(x_min, x[i].first); - y_min = std::min(y_min, y[i].first); - x_max = std::max(x_max, x[i].first); - y_max = std::max(y_max, y[i].first); + // x_min = x.front().first; y_min = y.front().first; + // x_max = x.front().first; y_max = y.front().first; + // x_min_w = x.front().second; y_min_w = y.front().second; + // x_max_w = x.front().second; y_max_w = y.front().second; + // for (int i = 1; i < yaw_robot.size(); i++) + // { + // if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_)) + // continue; + // x_min = std::min(x_min, x[i].first); + // y_min = std::min(y_min, y[i].first); + // x_max = std::max(x_max, x[i].first); + // y_max = std::max(y_max, y[i].first); - x_min_w = std::min(x_min_w, x[i].second); - y_min_w = std::min(y_min_w, y[i].second); - x_max_w = std::max(x_max_w, x[i].second); - y_max_w = std::max(y_max_w, y[i].second); + // x_min_w = std::min(x_min_w, x[i].second); + // y_min_w = std::min(y_min_w, y[i].second); + // x_max_w = std::max(x_max_w, x[i].second); + // y_max_w = std::max(y_max_w, y[i].second); - } - // ROS_INFO("%d %d %d %d", x_min, y_min, x_max, y_max); - // ROS_INFO("%f %f %f %f", x_min_w, y_min_w, x_max_w, y_max_w); - for (int i = 0; i < yaw_robot.size(); i++) - { - if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_)) - continue; + // } + // // ROS_INFO("%d %d %d %d", x_min, y_min, x_max, y_max); + // // ROS_INFO("%f %f %f %f", x_min_w, y_min_w, x_max_w, y_max_w); + // for (int i = 0; i < yaw_robot.size(); i++) + // { + // if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_)) + // continue; - double yaw_rad = (double)yaw_robot[i] / 180 * M_PI; - if (fabs(cos(yaw_rad)) > fabs(sin(yaw_rad))) - { - int x_ = x[i].first; - // Dưới lên trên - for (int j = y[i].first; j <= y_max; j++) - { - int y_ = j; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - // Trên xuống dưới - for (int k = y[i].first; k >= y_min; k--) - { - int y_ = k; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } + // double yaw_rad = (double)yaw_robot[i] / 180 * M_PI; + // if (fabs(cos(yaw_rad)) > fabs(sin(yaw_rad))) + // { + // int x_ = x[i].first; + // // Dưới lên trên + // for (int j = y[i].first; j <= y_max; j++) + // { + // int y_ = j; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // // Trên xuống dưới + // for (int k = y[i].first; k >= y_min; k--) + // { + // int y_ = k; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } - int y_ = y[i].first; - // Phải qua trái - for (int j = x[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsX(); j++) - { - int x_ = j; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - // Trái qua phải - for (int k = x[i].first; k >= 0; k--) - { - int x_ = k; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - } - else if(fabs(cos(yaw_rad)) < fabs(sin(yaw_rad))) - { - int y_ = y[i].first; - // Phải qua trái - for (int j = x[i].first; j <= x_max; j++) - { - int x_ = j; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - // Trái qua phải - for (int k = x[i].first; k >= x_min; k--) - { - int x_ = k; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } + // int y_ = y[i].first; + // // Phải qua trái + // for (int j = x[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsX(); j++) + // { + // int x_ = j; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // // Trái qua phải + // for (int k = x[i].first; k >= 0; k--) + // { + // int x_ = k; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // } + // else if(fabs(cos(yaw_rad)) < fabs(sin(yaw_rad))) + // { + // int y_ = y[i].first; + // // Phải qua trái + // for (int j = x[i].first; j <= x_max; j++) + // { + // int x_ = j; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // // Trái qua phải + // for (int k = x[i].first; k >= x_min; k--) + // { + // int x_ = k; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } - int x_ = x[i].first; - // Dưới lên trên - for (int j = y[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsY(); j++) - { - int y_ = j; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - // Trên xuống dưới - for (int k = y[i].first; k >= 0; k--) - { - int y_ = k; - if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) - continue; - unsigned char value = laneFilter(x_, y_, yaw_robot[i]); - if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) - costmap_[getIndex(x_, y_)] = value; - else - break; - } - } - } - } + // int x_ = x[i].first; + // // Dưới lên trên + // for (int j = y[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsY(); j++) + // { + // int y_ = j; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // // Trên xuống dưới + // for (int k = y[i].first; k >= 0; k--) + // { + // int y_ = k; + // if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE) + // continue; + // unsigned char value = laneFilter(x_, y_, yaw_robot[i]); + // if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION) + // costmap_[getIndex(x_, y_)] = value; + // else + // break; + // } + // } + // } + // } - void DirectionalLayer::resetMap() - { - unsigned int size_x = layered_costmap_->getCostmap()->getSizeInCellsX(); - unsigned int size_y = layered_costmap_->getCostmap()->getSizeInCellsY(); - for (unsigned int iy = 0; iy < size_y; iy++) - { - for (unsigned int ix = 0; ix < size_x; ix++) - { - int index = getIndex(ix, iy); - costmap_[index] = costmap_2d::NO_INFORMATION; - } - } - } + // void DirectionalLayer::resetMap() + // { + // unsigned int size_x = layered_costmap_->getCostmap()->getSizeInCellsX(); + // unsigned int size_y = layered_costmap_->getCostmap()->getSizeInCellsY(); + // for (unsigned int iy = 0; iy < size_y; iy++) + // { + // for (unsigned int ix = 0; ix < size_x; ix++) + // { + // int index = getIndex(ix, iy); + // costmap_[index] = costmap_2d::NO_INFORMATION; + // } + // } + // } - bool DirectionalLayer::getRobotPose(double &x, double &y, double &yaw) - { - tf::StampedTransform transform; - try - { - listener_.lookupTransform(map_frame_, base_frame_id_, ros::Time(0), transform); - } - catch (tf::TransformException &ex) - { - ROS_ERROR("%s", ex.what()); - return false; - } - x = transform.getOrigin().x(); - y = transform.getOrigin().y(); - // Extract the rotation as a quaternion from the transform - tf::Quaternion rotation = transform.getRotation(); - // Convert the quaternion to a yaw angle (in radians) - yaw = tf::getYaw(rotation); - return true; - } + // bool DirectionalLayer::getRobotPose(double &x, double &y, double &yaw) + // { + // tf::StampedTransform transform; + // try + // { + // listener_.lookupTransform(map_frame_, base_frame_id_, ros::Time(0), transform); + // } + // catch (tf::TransformException &ex) + // { + // ROS_ERROR("%s", ex.what()); + // return false; + // } + // x = transform.getOrigin().x(); + // y = transform.getOrigin().y(); + // // Extract the rotation as a quaternion from the transform + // tf::Quaternion rotation = transform.getRotation(); + // // Convert the quaternion to a yaw angle (in radians) + // yaw = tf::getYaw(rotation); + // return true; + // } - bool DirectionalLayer::inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance) - { - return fabs(hypot(start_x - end_x, start_y - end_y)) <= skip_distance; - } + // bool DirectionalLayer::inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance) + // { + // return fabs(hypot(start_x - end_x, start_y - end_y)) <= skip_distance; + // } } \ No newline at end of file diff --git a/plugins/inflation_layer.cpp b/plugins/inflation_layer.cpp index 4691ce5..5f1bb8d 100644 --- a/plugins/inflation_layer.cpp +++ b/plugins/inflation_layer.cpp @@ -2,9 +2,9 @@ #include #include #include +#include #include - -// PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer) +#include using costmap_2d::LETHAL_OBSTACLE; using costmap_2d::INSCRIBED_INFLATED_OBSTACLE; @@ -54,13 +54,14 @@ bool InflationLayer::getParams() { try { YAML::Node config = YAML::LoadFile("../cfg/config.yaml"); - double cost_scaling_factor = config["inflation_layer"]["cost_scaling_factor"].as(); - double inflation_radius = config["inflation_layer"]["inflation_radius"].as(); + YAML::Node layer = config["inflation_layer"]; + double cost_scaling_factor = loadParam(layer, "cost_scaling_factor", 15.0); + double inflation_radius = loadParam(layer, "inflation_radius", 0.55); setInflationParameters(inflation_radius, cost_scaling_factor); - bool enabled = config["inflation_layer"]["enabled"].as(); - bool inflate_unknown = config["inflation_layer"]["inflate_unknown"].as(); - + bool enabled = loadParam(layer, "enabled", true); + bool inflate_unknown = loadParam(layer, "inflate_unknown", false); + if (enabled_ != enabled || inflate_unknown_ != inflate_unknown) { enabled_ = enabled; inflate_unknown_ = inflate_unknown; diff --git a/plugins/obstacle_layer.cpp b/plugins/obstacle_layer.cpp index 149f28c..13e4cfa 100644 --- a/plugins/obstacle_layer.cpp +++ b/plugins/obstacle_layer.cpp @@ -1,185 +1,183 @@ #include -// #include +#include // #include +#include +#include +#include -// #include -// #include +using costmap_2d::NO_INFORMATION; +using costmap_2d::LETHAL_OBSTACLE; +using costmap_2d::FREE_SPACE; -// PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer) +using costmap_2d::ObservationBuffer; +using costmap_2d::Observation; -// using costmap_2d::NO_INFORMATION; -// using costmap_2d::LETHAL_OBSTACLE; -// using costmap_2d::FREE_SPACE; +namespace costmap_2d +{ -// using costmap_2d::ObservationBuffer; -// using costmap_2d::Observation; - -// namespace costmap_2d -// { - -// void ObstacleLayer::onInitialize() -// { +void ObstacleLayer::onInitialize() +{ // ros::NodeHandle nh("~/" + name_), g_nh; -// rolling_window_ = layered_costmap_->isRolling(); + rolling_window_ = layered_costmap_->isRolling(); -// bool track_unknown_space; + 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; + if (track_unknown_space) + default_value_ = NO_INFORMATION; + else + default_value_ = FREE_SPACE; -// ObstacleLayer::matchSize(); -// current_ = true; + ObstacleLayer::matchSize(); + current_ = true; -// global_frame_ = layered_costmap_->getGlobalFrameID(); -// double transform_tolerance; + 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 + 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); + // 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); -// 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; -// // 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); -// 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"); + } -// 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; -// 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 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); + } -// // 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); -// } + printf("Creating an observation buffer for source %s, topic %s, frame %s", source.c_str(), topic.c_str(), + sensor_frame.c_str()); -// 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))); -// // 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 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()); -// // 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 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); -// 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)); -// // 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)); -// boost::shared_ptr > filter( -// new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); + if (inf_is_valid) + { + filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanValidInfCallback(msg, buffer); }); + } + else + { + filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanCallback(msg, buffer); }); + } -// if (inf_is_valid) -// { -// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanValidInfCallback(msg, buffer); }); -// } -// else -// { -// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanCallback(msg, buffer); }); -// } + observation_subscribers_.push_back(sub); + observation_notifiers_.push_back(filter); -// 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)); -// 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."); + } -// 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([this,buffer=observation_buffers_.back()](auto& msg){ pointCloudCallback(msg, buffer); }); -// boost::shared_ptr < tf2_ros::MessageFilter -// > filter(new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); -// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloudCallback(msg, buffer); }); + 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)); -// 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."); + } -// 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([this,buffer=observation_buffers_.back()](auto& msg){ pointCloud2Callback(msg, buffer); }); -// boost::shared_ptr < tf2_ros::MessageFilter -// > filter(new tf2_ros::MessageFilter(*sub, *tf_, global_frame_, 50, g_nh)); -// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloud2Callback(msg, buffer); }); - -// 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); -// } -// } + 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) // { @@ -189,11 +187,9 @@ // dsrv_->setCallback(cb); // } -// ObstacleLayer::~ObstacleLayer() -// { -// if (dsrv_) -// delete dsrv_; -// } +ObstacleLayer::~ObstacleLayer() +{} + // void ObstacleLayer::reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level) // { // enabled_ = config.enabled; @@ -300,246 +296,246 @@ // 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); +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; + bool current = true; + std::vector observations, clearing_observations; -// // get the marking observations -// current = current && getMarkingObservations(observations); + // get the marking observations + current = current && getMarkingObservations(observations); -// // get the clearing observations -// current = current && getClearingObservations(clearing_observations); + // get the clearing observations + current = current && getClearingObservations(clearing_observations); -// // update the global current status -// current_ = 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); -// } + // 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; + // 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_); + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); -// double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_; + 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"); + 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; + 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; -// } + // if the obstacle is too high or too far away from the robot we won't add it + if (pz > max_obstacle_height_) + { + printf("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); + // 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; -// } + // if the point is far enough away... we won't consider it + if (sq_dist >= sq_obstacle_range) + { + printf("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; -// } + // now we need to compute the map coordinates for the observation + unsigned int mx, my; + if (!worldToMap(px, py, mx, my)) + { + printf("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); -// } -// } + 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); -// } + 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_); +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); -// } -// } + 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); -// } +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; -// } + 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::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(); -// } +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::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; -// } +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_); +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; -// } + // get the map coordinates of the origin of the sensor + unsigned int x0, y0; + if (!worldToMap(ox, oy, x0, y0)) + { + printf( + "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_; + // 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); + 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 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; + 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; + // 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 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; -// } + // 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; + // 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; + // 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); + 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); -// } -// } + updateRaytraceBounds(ox, oy, wx, wy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y); + } +} // void ObstacleLayer::activate() // { @@ -565,15 +561,15 @@ // } // } -// 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::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() // { @@ -583,4 +579,12 @@ // activate(); // } -// } // namespace costmap_2d +// Export factory function +static PluginPtr create_obstacle_plugin() { + return std::make_shared(); +} + +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(create_obstacle_plugin, create_plugin) + +} // namespace costmap_2d diff --git a/plugins/preferred_layer.cpp b/plugins/preferred_layer.cpp index fbe128f..17afe9c 100644 --- a/plugins/preferred_layer.cpp +++ b/plugins/preferred_layer.cpp @@ -1,7 +1,5 @@ #include -#include - -PLUGINLIB_EXPORT_CLASS(costmap_2d::PreferredLayer, costmap_2d::Layer) +#include using costmap_2d::NO_INFORMATION; using costmap_2d::FREE_SPACE; @@ -25,4 +23,12 @@ unsigned char PreferredLayer::interpretValue(unsigned char value) return scale * LETHAL_OBSTACLE; } +// Export factory function +static PluginPtr create_preferred_plugin() { + return std::make_shared(); +} + +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(create_preferred_plugin, create_plugin) + } \ No newline at end of file diff --git a/plugins/static_layer.cpp b/plugins/static_layer.cpp index dbf930d..fdfeed3 100644 --- a/plugins/static_layer.cpp +++ b/plugins/static_layer.cpp @@ -1,11 +1,14 @@ #include #include +#include +#include #include #include // #include #include + using costmap_2d::NO_INFORMATION; using costmap_2d::LETHAL_OBSTACLE; using costmap_2d::FREE_SPACE; @@ -27,6 +30,7 @@ void StaticLayer::onInitialize() current_ = true; global_frame_ = layered_costmap_->getGlobalFrameID(); + getParams(); // 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); @@ -59,11 +63,11 @@ void StaticLayer::onInitialize() // r.sleep(); // } - // printf("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution()); + // printf("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution()); // if (subscribe_to_updates_) // { - // printf("Subscribing to updates"); + std::cout<<"Subscribing to updates"<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)) + if(!map_shutdown_) { - // Update the size of the layered costmap (and all layers, including this one) - printf("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 - printf("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 size_x = new_map.info.width, size_y = new_map.info.height; - unsigned int index = 0; + printf("Received a %d X %d map at %f m/pix", size_x, size_y, new_map.info.resolution); - // initialize the costmap with static data - for (unsigned int i = 0; i < size_y; ++i) - { - for (unsigned int j = 0; j < size_x; ++j) + // 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)) { - unsigned char value = new_map.data[index]; - costmap_[index] = interpretValue(value); - ++index; + // Update the size of the layered costmap (and all layers, including this one) + printf("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 + printf("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; } - 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_) { printf("Shutting down the map subscriber. first_map_only flag is on"); + map_shutdown_ = true; // map_sub_.shutdown(); } } void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdate& update) { - unsigned int di = 0; - for (unsigned int y = 0; y < update.height ; y++) + if(!map_update_shutdown_) { - unsigned int index_base = (update.y + y) * size_x_; - for (unsigned int x = 0; x < update.width ; x++) + unsigned int di = 0; + for (unsigned int y = 0; y < update.height ; y++) { - unsigned int index = index_base + x + update.x; - costmap_[index] = interpretValue(update.data[di++]); + 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; } - x_ = update.x; - y_ = update.y; - width_ = update.width; - height_ = update.height; - has_updated_data_ = true; } void StaticLayer::activate() @@ -199,23 +251,26 @@ void StaticLayer::activate() onInitialize(); } -// void StaticLayer::deactivate() -// { -// map_sub_.shutdown(); -// if (subscribe_to_updates_) -// map_update_sub_.shutdown(); -// } +void StaticLayer::deactivate() +{ + map_shutdown_ = true; + if (subscribe_to_updates_) + map_update_shutdown_ = true; +} void StaticLayer::reset() { if (first_map_only_) { + map_shutdown_ = false; + map_update_shutdown_ = false; has_updated_data_ = true; } else { onInitialize(); } + printf("RESET MAP"); } void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, @@ -261,15 +316,16 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int unsigned int mx, my; double wx, wy; // Might even be in a different frame - geometry_msgs::TransformStamped transform; + // geometry_msgs::TransformStamped transform; tf2::TransformStampedMsg transformMsg; try { // transformMsg = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0)); - tf_->canTransform(map_frame_, global_frame_, tf2::Time()); - tf_->lookupTransform(map_frame_, - global_frame_, - tf2::Time()); + bool status =tf_->canTransform(map_frame_, global_frame_, tf2::Time()); + if(!status) throw tf2::TransformException("[static_layer] Cannot transform"); + transformMsg = tf_->lookupTransform(map_frame_, + global_frame_, + tf2::Time()); } catch (tf2::TransformException ex) { @@ -278,7 +334,8 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int } // Copy map data given proper transformations tf2::Transform tf2_transform; - // tf2::convert(transform.transform, tf2_transform); + tf2_transform = convertToTf2Transform(transformMsg.transform); + // tf2::convert(transformMsg.transform, tf2_transform); for (unsigned int i = min_i; i < max_i; ++i) { for (unsigned int j = min_j; j < max_j; ++j) @@ -287,7 +344,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int 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; + p = tf2_transform*p; // Set master_grid with cell from map if (worldToMap(p.x(), p.y(), mx, my)) { @@ -302,7 +359,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int } // Export factory function -static PluginPtr create_static_plugin() { +static PluginCostmapLayerPtr create_static_plugin() { return std::make_shared(); } diff --git a/plugins/unpreferred_layer.cpp b/plugins/unpreferred_layer.cpp index d6237f2..5fceb29 100644 --- a/plugins/unpreferred_layer.cpp +++ b/plugins/unpreferred_layer.cpp @@ -1,7 +1,5 @@ #include -#include - -PLUGINLIB_EXPORT_CLASS(costmap_2d::UnPreferredLayer, costmap_2d::Layer) +#include using costmap_2d::NO_INFORMATION; using costmap_2d::LETHAL_OBSTACLE; @@ -24,4 +22,12 @@ unsigned char UnPreferredLayer::interpretValue(unsigned char value) return scale * LETHAL_OBSTACLE; } +// Export factory function +static PluginPtr create_unpreferred_plugin() { + return std::make_shared(); +} + +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(create_unpreferred_plugin, create_plugin) + } \ No newline at end of file diff --git a/plugins/voxel_layer.cpp b/plugins/voxel_layer.cpp index 9927ddd..d56b9bf 100644 --- a/plugins/voxel_layer.cpp +++ b/plugins/voxel_layer.cpp @@ -36,11 +36,12 @@ * David V. Lu!! *********************************************************************/ #include -#include +#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; @@ -52,398 +53,403 @@ using costmap_2d::Observation; namespace costmap_2d { -void VoxelLayer::onInitialize() -{ - ObstacleLayer::onInitialize(); - ros::NodeHandle private_nh("~/" + name_); +// 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); +// 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); -} +// 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 = - [this](auto& config, auto level){ reconfigureCB(config, level); }; - voxel_dsrv_->setCallback(cb); -} +// void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh) +// { +// voxel_dsrv_ = new dynamic_reconfigure::Server(nh); +// dynamic_reconfigure::Server::CallbackType cb = +// [this](auto& config, auto level){ reconfigureCB(config, level); }; +// 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; +// } + +// Export factory function +static PluginPtr create_voxel_plugin() { + return std::make_shared(); } -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; -} +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(create_voxel_plugin, create_plugin) } // namespace costmap_2d diff --git a/src/footprint.cpp b/src/footprint.cpp index 742e43c..3a313e0 100644 --- a/src/footprint.cpp +++ b/src/footprint.cpp @@ -33,7 +33,6 @@ #include #include #include -// #include namespace costmap_2d { diff --git a/src/observation_buffer.cpp b/src/observation_buffer.cpp index 97ff080..adde8ea 100644 --- a/src/observation_buffer.cpp +++ b/src/observation_buffer.cpp @@ -8,6 +8,7 @@ + using namespace std; using namespace tf2; @@ -18,7 +19,7 @@ ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_ double raytrace_range, tf2::BufferCore& 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_(std::chrono::system_clock::now()), + last_updated_(robot::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) @@ -33,18 +34,19 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame) { geometry_msgs::Point A; // ros::Time transform_time = ros::Time::now(); - double transform_time = - std::chrono::duration( - std::chrono::system_clock::now().time_since_epoch()).count(); + // double transform_time = + // std::chrono::duration( + // std::chrono::system_clock::now().time_since_epoch()).count(); + robot::Time transform_time = robot::Time::now(); std::string tf_error; - if (!tf2_buffer_.canTransform(new_global_frame, global_frame_, tf2::Time::now(), &tf_error)) - { - printf("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; - } + // if (!tf2_buffer_.canTransform(new_global_frame, global_frame_, tf2::Time::now(), &tf_error)) + // { + // printf("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) @@ -59,17 +61,17 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame) origin.point = obs.origin_; // we need to transform the origin of the observation to the new global frame - tf2::doTransform(origin, origin, - tf2_buffer_.lookupTransform(new_global_frame, - tf2::getFrameId(origin), - tf2::getTimestamp(origin))); - obs.origin_ = origin.point; + // tf2::doTransform(origin, origin, + // tf2_buffer_.lookupTransform(new_global_frame, + // tf2::getFrameId(origin), + // tf2::getTimestamp(origin))); + // obs.origin_ = origin.point; - // we also need to transform the cloud of the observation to the new global frame - tf2::doTransform(*(obs.cloud_), *(obs.cloud_), - tf2_buffer_.lookupTransform(new_global_frame, - tf2::getFrameId(*(obs.cloud_)), - tf2::getTimestamp(*(obs.cloud_)))); + // // we also need to transform the cloud of the observation to the new global frame + // tf2::doTransform(*(obs.cloud_), *(obs.cloud_), + // tf2_buffer_.lookupTransform(new_global_frame, + // tf2::getFrameId(*(obs.cloud_)), + // tf2::getTimestamp(*(obs.cloud_)))); } catch (TransformException& ex) { @@ -103,10 +105,10 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud) local_origin.point.x = 0; local_origin.point.y = 0; local_origin.point.z = 0; - tf2::doTransform(local_origin, global_origin, - tf2_buffer_.lookupTransform(global_frame_, - tf2::getFrameId(local_origin), - tf2::getTimestamp(local_origin))); + // tf2::doTransform(local_origin, global_origin, + // tf2_buffer_.lookupTransform(global_frame_, + // tf2::getFrameId(local_origin), + // tf2::getTimestamp(local_origin))); 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 @@ -115,12 +117,12 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud) sensor_msgs::PointCloud2 global_frame_cloud; - // transform the point cloud - tf2::doTransform(cloud, global_frame_cloud, - tf2_buffer_.lookupTransform(global_frame_, - tf2::getFrameId(cloud), - tf2::getTimestamp(cloud))); - global_frame_cloud.header.stamp = cloud.header.stamp; + // // transform the point cloud + // tf2::doTransform(cloud, global_frame_cloud, + // tf2_buffer_.lookupTransform(global_frame_, + // tf2::getFrameId(cloud), + // tf2::getTimestamp(cloud))); + // 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_); @@ -167,7 +169,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud) } // if the update was successful, we want to update the last updated time - last_updated_ = std::chrono::system_clock::now(); + last_updated_ = robot::Time::now(); // we'll also remove any stale observations from the list purgeStaleObservations(); @@ -193,7 +195,7 @@ void ObservationBuffer::purgeStaleObservations() { 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_ == std::chrono::duration(0.0)) + if (observation_keep_time_ == robot::Duration(0.0)) { observation_list_.erase(++obs_it, observation_list_.end()); return; @@ -204,7 +206,7 @@ void ObservationBuffer::purgeStaleObservations() { 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 ((std::chrono::duration(last_updated_.time_since_epoch()).count() - obs.cloud_->header.stamp) > observation_keep_time_.count()) + if ((last_updated_ - obs.cloud_->header.stamp) > observation_keep_time_) { observation_list_.erase(obs_it, observation_list_.end()); return; @@ -215,16 +217,16 @@ void ObservationBuffer::purgeStaleObservations() bool ObservationBuffer::isCurrent() const { - if (expected_update_rate_ == std::chrono::duration(0.0)) + if (expected_update_rate_ == robot::Duration(0.0)) return true; - bool current = (std::chrono::system_clock::now() - last_updated_) <= expected_update_rate_; + bool current = (robot::Time::now() - last_updated_) <= expected_update_rate_; if (!current) { printf( "The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.", - topic_name_.c_str(), std::chrono::duration(std::chrono::system_clock::now() - last_updated_).count(), - expected_update_rate_.count()); + topic_name_.c_str(), (robot::Time::now() - last_updated_).toSec(), + expected_update_rate_.toSec()); } return current; return true; @@ -232,7 +234,7 @@ bool ObservationBuffer::isCurrent() const void ObservationBuffer::resetLastUpdated() { - last_updated_ = std::chrono::system_clock::now(); + last_updated_ = robot::Time::now(); } } // namespace costmap_2d diff --git a/test/coordinates_test.cpp b/test/coordinates_test.cpp new file mode 100644 index 0000000..065ef2e --- /dev/null +++ b/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/test/static_layer_test.cpp b/test/static_layer_test.cpp new file mode 100644 index 0000000..0e43536 --- /dev/null +++ b/test/static_layer_test.cpp @@ -0,0 +1,53 @@ +#include +#include +#include +#include +#include +#include +#include "nav_msgs/OccupancyGrid.h" +using namespace costmap_2d; + +int main(int argc, char* argv[]) { + + // Fix 1: Use correct path to the library + auto creator = boost::dll::import_alias( + "./costmap_2d/liblayers.so", "create_plugin", boost::dll::load_mode::append_decorations + ); + + costmap_2d::PluginCostmapLayerPtr plugin = creator(); + std::cout << "Plugin created successfully" << std::endl; + + // Fix 2: Initialize the plugin before calling activate() + // activate() calls onInitialize() which requires layered_costmap_ to be set + std::string global_frame = "map"; + bool rolling_window = false; + bool track_unknown = true; + LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown); + + // Fix 3: tf2::BufferCore constructor requires ros::Duration parameter (not tf2::Duration) + tf2::BufferCore tf_buffer; + // tf2::Duration cache_time(10.0); // 10 seconds cache time + // tf2::BufferCore tf_buffer(cache_time); + + // Initialize the layer with required parameters + plugin->initialize(&layered_costmap, "static_layer", &tf_buffer); + + std::cout << "Plugin initialized" << std::endl; + + // Now it's safe to call activate() + // plugin->activate(); + nav_msgs::OccupancyGrid grid; + + grid.info.resolution = 0.05f; + grid.info.width = 2; + grid.info.height = 2; + + grid.data.resize(grid.info.width * grid.info.height, -1); + grid.data[0] = 0; // Free cell + grid.data[1] = 100; // Occupied cell + grid.data[2] = 10; // Occupied cell + grid.data[3] = 0; // Free cell + plugin->incomingMap(grid); + + std::cout << "Plugin activated successfully" << std::endl; +}