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duongtd 2025-10-24 17:26:44 +07:00
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commit 63dc18f3f0
77 changed files with 8301 additions and 248 deletions
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54
CMakeLists.txt
View File

@ -2,40 +2,50 @@ cmake_minimum_required(VERSION 3.10)
project(costmap_2d) project(costmap_2d)
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Dependencies # ---- Dependencies ----
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
# Include directories
include_directories( include_directories(
include include
${EIGEN3_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
/usr/include
) )
# Library source files add_definitions(${EIGEN3_DEFINITIONS})
set(COSTMAP_SOURCES
# ---- Core costmap_2d library ----
add_library(costmap_2d
src/array_parser.cpp
src/costmap_2d.cpp src/costmap_2d.cpp
# src/layer.cpp src/observation_buffer.cpp
src/layer.cpp
src/layered_costmap.cpp src/layered_costmap.cpp
# src/costmap_math.cpp
src/footprint.cpp
# src/costmap_layer.cpp # src/costmap_layer.cpp
# src/static_layer.cpp
# src/obstacle_layer.cpp
# src/inflation_layer.cpp
# src/observation_buffer.cpp
# src/footprint.cpp
) )
# Create library target_link_libraries(costmap_2d
add_library(${PROJECT_NAME} SHARED ${COSTMAP_SOURCES}) ${Boost_LIBRARIES}
target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
# Install
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
) )
install(DIRECTORY include/${PROJECT_NAME}/ # # ---- Layer plugins ----
DESTINATION include/${PROJECT_NAME} add_library(layers
plugins/inflation_layer.cpp
# plugins/obstacle_layer.cpp
# plugins/static_layer.cpp
# plugins/voxel_layer.cpp
) )
target_link_libraries(layers
costmap_2d
${Boost_LIBRARIES}
)
# ---- Example Executable ----
# add_executable(test_costmap main.cpp)
# target_link_libraries(test_costmap costmap_2d layers)

417
build/CMakeCache.txt Normal file
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@ -0,0 +1,417 @@
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/*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* author: Dave Hershberger
*/
#ifndef COSTMAP_2D_ARRAY_PARSER_H
#define COSTMAP_2D_ARRAY_PARSER_H
#include <vector>
#include <string>
namespace costmap_2d
{
/** @brief Parse a vector of vectors of floats from a string.
* @param error_return If no error, error_return is set to "". If
* error, error_return will describe the error.
* Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]
*
* On error, error_return is set and the return value could be
* anything, like part of a successful parse. */
std::vector<std::vector<float> > parseVVF(const std::string& input, std::string& error_return);
} // end namespace costmap_2d
#endif // COSTMAP_2D_ARRAY_PARSER_H

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#ifndef COSTMAP_2D_COSTMAP_2D_H_ #ifndef COSTMAP_2D_COSTMAP_2D_H_ // Bảo vệ tránh include file nhiều lần
#define COSTMAP_2D_COSTMAP_2D_H_ #define COSTMAP_2D_COSTMAP_2D_H_
#include <vector> #include <vector> // Dùng cho std::vector
#include <queue> #include <queue> // Dùng trong các thuật toán quét ô (flood fill, BFS)
#include <boost/thread.hpp> #include <boost/thread.hpp> // Dùng mutex để đồng bộ truy cập giữa các thread (multi-thread safe)
#include <costmap_2d/msg.h>
namespace costmap_2d namespace costmap_2d // Mọi thứ nằm trong namespace costmap_2d
{ {
// convenient for storing x/y point pairs
struct MapLocation
{
unsigned int x;
unsigned int y;
};
struct Point
{
double x;
double y;
};
/** // Cấu trúc tiện dụng để lưu trữ cặp tọa độ (x, y) trên bản đồ (dạng ô)
struct MapLocation
{
unsigned int x; // Chỉ số hàng (hoặc cột) theo trục X trong costmap
unsigned int y; // Chỉ số hàng (hoặc cột) theo trục Y trong costmap
};
/**
* @class Costmap2D * @class Costmap2D
* @brief A 2D costmap provides a mapping between points in the world and their associated "costs". * @brief Lớp này đại diện cho bản đồ chi phí 2D (costmap)
*
* Nó ánh xạ giữa không gian thế giới (tọa độ thực, mét) và lưới ô (cells),
* mỗi ô chứa "cost" – tức là chi phí để robot đi qua ô đó (ví dụ: 0 là free, 255 là obstacle).
*/ */
class Costmap2D class Costmap2D
{ {
// friend class CostmapTester; // Cho phép lớp test (gtest) truy cập vào các thành viên private
public: public:
/** /**
* @brief Constructor for a costmap * Constructor khởi tạo bản đồ costmap
* @param cells_size_x The x size of the map in cells * @param cells_size_x: số ô theo chiều X
* @param cells_size_y The y size of the map in cells * @param cells_size_y: số ô theo chiều Y
* @param resolution The resolution of the map in meters/cell * @param resolution: kích thước 1 ô (mét / ô)
* @param origin_x The x origin of the map * @param origin_x: gốc bản đồ (tọa độ thế giới) theo trục X
* @param origin_y The y origin of the map * @param origin_y: gốc bản đồ (tọa độ thế giới) theo trục Y
* @param default_value Default Value * @param default_value: giá trị mặc định của mỗi ô (thường là 0 = free)
*/ */
Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution, Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
double origin_x, double origin_y, unsigned char default_value = 0); double origin_x, double origin_y, unsigned char default_value = 0);
/** /**
* @brief Copy constructor for a costmap, creates a copy efficiently * Constructor sao chép (copy constructor)
* @param map The costmap to copy * Dùng để tạo bản sao nhanh của một bản đồ costmap khác.
*/ */
Costmap2D(const Costmap2D& map); Costmap2D(const Costmap2D& map);
/** /**
* @brief Overloaded assignment operator * Toán tử gán (=) được overload để sao chép dữ liệu từ bản đồ khác.
* @param map The costmap to copy
* @return A reference to the map after the copy has finished
*/ */
Costmap2D& operator=(const Costmap2D& map); Costmap2D& operator=(const Costmap2D& map);
/** /**
* @brief Turn this costmap into a copy of a window of a costmap passed in * Tạo bản sao từ một vùng (window) của bản đồ khác.
* @param map The costmap to copy * Dùng khi ta chỉ muốn sao chép một phần nhỏ của bản đồ lớn.
* @param win_origin_x The x origin (lower left corner) for the window to copy, in meters
* @param win_origin_y The y origin (lower left corner) for the window to copy, in meters
* @param win_size_x The x size of the window, in meters
* @param win_size_y The y size of the window, in meters
*/ */
bool copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x, bool copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x,
double win_size_y); double win_size_y);
/** /// Constructor mặc định (không khởi tạo kích thước)
* @brief Default constructor
*/
Costmap2D(); Costmap2D();
/** /// Destructor
* @brief Destructor
*/
virtual ~Costmap2D(); virtual ~Costmap2D();
/** /**
* @brief Get the cost of a cell in the costmap * Trả về giá trị chi phí (cost) của một ô (mx, my)
* @param mx The x coordinate of the cell
* @param my The y coordinate of the cell
* @return The cost of the cell
*/ */
unsigned char getCost(unsigned int mx, unsigned int my) const; unsigned char getCost(unsigned int mx, unsigned int my) const;
/** /**
* @brief Set the cost of a cell in the costmap * Đặt giá trị cost cho một ô (mx, my)
* @param mx The x coordinate of the cell
* @param my The y coordinate of the cell
* @param cost The cost to set the cell to
*/ */
void setCost(unsigned int mx, unsigned int my, unsigned char cost); void setCost(unsigned int mx, unsigned int my, unsigned char cost);
/** /**
* @brief Convert from map coordinates to world coordinates * Chuyển đổi tọa độ map (ô) → tọa độ thế giới (mét)
* @param mx The x map coordinate * Dùng để vẽ, debug hoặc xác định vị trí thực tế của một ô.
* @param my The y map coordinate
* @param wx Will be set to the associated world x coordinate
* @param wy Will be set to the associated world y coordinate
*/ */
void mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const; void mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const;
/** /**
* @brief Convert from world coordinates to map coordinates * Chuyển đổi tọa độ thế giới → tọa độ map (ô)
* @param wx The x world coordinate * Nếu tọa độ nằm ngoài bản đồ → trả về false
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @return True if the conversion was successful (legal bounds) false otherwise
*/ */
bool worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const; bool worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const;
/** /**
* @brief Convert from world coordinates to map coordinates without checking for legal bounds * Chuyển đổi mà không kiểm tra biên hợp lệ (có thể nằm ngoài bản đồ)
* @param wx The x world coordinate
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @note The returned map coordinates <b>are not guaranteed to lie within the map.</b>
*/ */
void worldToMapNoBounds(double wx, double wy, int& mx, int& my) const; void worldToMapNoBounds(double wx, double wy, int& mx, int& my) const;
/** /**
* @brief Convert from world coordinates to map coordinates, constraining results to legal bounds. * Chuyển đổi nhưng ép kết quả nằm trong biên của bản đồ (clamped)
* @param wx The x world coordinate
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @note The returned map coordinates are guaranteed to lie within the map.
*/ */
void worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const; void worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const;
/** /**
* @brief Given two map coordinates... compute the associated index * Tính chỉ số 1D của ô từ cặp tọa độ (mx, my)
* @param mx The x coordinate * Công thức: index = my * size_x_ + mx
* @param my The y coordinate
* @return The associated index
*/ */
inline unsigned int getIndex(unsigned int mx, unsigned int my) const inline unsigned int getIndex(unsigned int mx, unsigned int my) const
{ {
@ -139,10 +105,7 @@ public:
} }
/** /**
* @brief Given an index... compute the associated map coordinates * Chuyển ngược lại: từ chỉ số 1D → cặp tọa độ (mx, my)
* @param index The index
* @param mx Will be set to the x coordinate
* @param my Will be set to the y coordinate
*/ */
inline void indexToCells(unsigned int index, unsigned int& mx, unsigned int& my) const inline void indexToCells(unsigned int index, unsigned int& mx, unsigned int& my) const
{ {
@ -151,111 +114,103 @@ public:
} }
/** /**
* @brief Will return a pointer to the underlying unsigned char array used as the costmap * Trả về con trỏ đến mảng dữ liệu costmap (unsigned char array)
* @return A pointer to the underlying unsigned char array storing cost values
*/ */
unsigned char* getCharMap() const; unsigned char* getCharMap() const;
/** /**
* @brief Accessor for the x size of the costmap in cells * Trả về số ô theo trục X
* @return The x size of the costmap
*/ */
unsigned int getSizeInCellsX() const; unsigned int getSizeInCellsX() const;
/** /**
* @brief Accessor for the y size of the costmap in cells * Trả về số ô theo trục Y
* @return The y size of the costmap
*/ */
unsigned int getSizeInCellsY() const; unsigned int getSizeInCellsY() const;
/** /**
* @brief Accessor for the x size of the costmap in meters * Trả về kích thước bản đồ theo mét (theo X)
* @return The x size of the costmap (returns the centerpoint of the last legal cell in the map)
*/ */
double getSizeInMetersX() const; double getSizeInMetersX() const;
/** /**
* @brief Accessor for the y size of the costmap in meters * Trả về kích thước bản đồ theo mét (theo Y)
* @return The y size of the costmap (returns the centerpoint of the last legal cell in the map)
*/ */
double getSizeInMetersY() const; double getSizeInMetersY() const;
/** /**
* @brief Accessor for the x origin of the costmap * Trả về tọa độ gốc bản đồ theo trục X (tọa độ thế giới)
* @return The x origin of the costmap
*/ */
double getOriginX() const; double getOriginX() const;
/** /**
* @brief Accessor for the y origin of the costmap * Trả về tọa độ gốc bản đồ theo trục Y (tọa độ thế giới)
* @return The y origin of the costmap
*/ */
double getOriginY() const; double getOriginY() const;
/** /**
* @brief Accessor for the resolution of the costmap * Trả về độ phân giải (mét / ô)
* @return The resolution of the costmap
*/ */
double getResolution() const; double getResolution() const;
/// Đặt giá trị mặc định (cost khi reset map)
void setDefaultValue(unsigned char c) void setDefaultValue(unsigned char c)
{ {
default_value_ = c; default_value_ = c;
} }
/// Trả về giá trị mặc định
unsigned char getDefaultValue() unsigned char getDefaultValue()
{ {
return default_value_; return default_value_;
} }
/** /**
* @brief Sets the cost of a convex polygon to a desired value * Đặt cost cho một vùng đa giác lồi (convex polygon)
* @param polygon The polygon to perform the operation on * Dùng để đánh dấu vùng chướng ngại vật hoặc vùng forbidden.
* @param cost_value The value to set costs to
* @return True if the polygon was filled... false if it could not be filled
*/ */
bool setConvexPolygonCost(const std::vector<Point>& polygon, unsigned char cost_value); bool setConvexPolygonCost(const std::vector<Point>& polygon, unsigned char cost_value);
/** /**
* @brief Get the map cells that make up the outline of a polygon * Lấy danh sách các ô nằm trên viền (outline) của một polygon.
* @param polygon The polygon in map coordinates to rasterize
* @param polygon_cells Will be set to the cells contained in the outline of the polygon
*/ */
void polygonOutlineCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells); void polygonOutlineCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells);
/** /**
* @brief Get the map cells that fill a convex polygon * Lấy danh sách các ô nằm bên trong polygon (điền vùng lồi).
* @param polygon The polygon in map coordinates to rasterize
* @param polygon_cells Will be set to the cells that fill the polygon
*/ */
void convexFillCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells); void convexFillCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells);
/** /**
* @brief Move the origin of the costmap to a new location.... keeping data when it can * Cập nhật lại gốc bản đồ (origin) sang vị trí mới,
* @param new_origin_x The x coordinate of the new origin * giữ lại dữ liệu cũ nếu có thể (thường dùng khi robot di chuyển xa).
* @param new_origin_y The y coordinate of the new origin
*/ */
virtual void updateOrigin(double new_origin_x, double new_origin_y); virtual void updateOrigin(double new_origin_x, double new_origin_y);
/** /**
* @brief Save the costmap out to a pgm file * Lưu bản đồ ra file ảnh PGM (phục vụ debug hoặc visualization)
* @param file_name The name of the file to save
*/ */
bool saveMap(std::string file_name); bool saveMap(std::string file_name);
/**
* Thay đổi kích thước bản đồ (resize toàn bộ)
*/
void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
double origin_y); double origin_y);
/**
* Reset toàn bộ costmap trong vùng (x0, y0) → (xn, yn)
*/
void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn); void resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn);
/** /**
* @brief Given distance in the world... convert it to cells * Chuyển khoảng cách theo mét → số ô tương ứng
* @param world_dist The world distance
* @return The equivalent cell distance
*/ */
unsigned int cellDistance(double world_dist); unsigned int cellDistance(double world_dist);
// Provide a typedef to ease future code maintenance /**
* Định nghĩa mutex để bảo vệ truy cập đồng thời.
*/
typedef boost::recursive_mutex mutex_t; typedef boost::recursive_mutex mutex_t;
mutex_t* getMutex() mutex_t* getMutex()
{ {
@ -264,17 +219,8 @@ public:
protected: protected:
/** /**
* @brief Copy a region of a source map into a destination map * Hàm template copy một vùng dữ liệu từ bản đồ nguồn → bản đồ đích
* @param source_map The source map * Dữ liệu được copy bằng memcpy để đảm bảo nhanh.
* @param sm_lower_left_x The lower left x point of the source map to start the copy
* @param sm_lower_left_y The lower left y point of the source map to start the copy
* @param sm_size_x The x size of the source map
* @param dest_map The destination map
* @param dm_lower_left_x The lower left x point of the destination map to start the copy
* @param dm_lower_left_y The lower left y point of the destination map to start the copy
* @param dm_size_x The x size of the destination map
* @param region_size_x The x size of the region to copy
* @param region_size_y The y size of the region to copy
*/ */
template<typename data_type> template<typename data_type>
void copyMapRegion(data_type* source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, void copyMapRegion(data_type* source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y,
@ -282,65 +228,60 @@ protected:
unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
unsigned int region_size_y) unsigned int region_size_y)
{ {
// we'll first need to compute the starting points for each map // Con trỏ bắt đầu tại vị trí góc dưới trái của vùng cần copy trong source
data_type* sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x); data_type* sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
// Con trỏ bắt đầu tại vị trí góc dưới trái trong dest
data_type* dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x); data_type* dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
// now, we'll copy the source map into the destination map // Lặp qua từng hàng trong vùng copy
for (unsigned int i = 0; i < region_size_y; ++i) for (unsigned int i = 0; i < region_size_y; ++i)
{ {
// Copy nguyên hàng (memcpy nhanh hơn vòng for từng phần tử)
memcpy(dm_index, sm_index, region_size_x * sizeof(data_type)); memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
sm_index += sm_size_x; sm_index += sm_size_x; // chuyển sang hàng tiếp theo của source
dm_index += dm_size_x; dm_index += dm_size_x; // chuyển sang hàng tiếp theo của dest
} }
} }
/** /**
* @brief Deletes the costmap, static_map, and markers data structures * Xóa toàn bộ dữ liệu bản đồ (free bộ nhớ)
*/ */
virtual void deleteMaps(); virtual void deleteMaps();
/** /**
* @brief Resets the costmap and static_map to be unknown space * Reset toàn bộ dữ liệu bản đồ về trạng thái UNKNOWN (NO_INFORMATION)
*/ */
virtual void resetMaps(); virtual void resetMaps();
/** /**
* @brief Initializes the costmap, static_map, and markers data structures * Cấp phát và khởi tạo bộ nhớ cho costmap
* @param size_x The x size to use for map initialization
* @param size_y The y size to use for map initialization
*/ */
virtual void initMaps(unsigned int size_x, unsigned int size_y); virtual void initMaps(unsigned int size_x, unsigned int size_y);
/** /**
* @brief Raytrace a line and apply some action at each step * Thuật toán raytracing Bresenham — đi từ điểm (x0,y0) → (x1,y1)
* @param at The action to take... a functor * Mỗi bước sẽ gọi “ActionType” (một functor) để đánh dấu hoặc xử lý từng ô.
* @param x0 The starting x coordinate * Thường dùng cho sensor update (quét laser).
* @param y0 The starting y coordinate
* @param x1 The ending x coordinate
* @param y1 The ending y coordinate
* @param max_length The maximum desired length of the segment... allows you to not go all the way to the endpoint
*/ */
template<class ActionType> template<class ActionType>
inline void raytraceLine(ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, inline void raytraceLine(ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1,
unsigned int max_length = UINT_MAX) unsigned int max_length = UINT_MAX)
{ {
int dx = x1 - x0; int dx = x1 - x0; // Khoảng cách theo trục X
int dy = y1 - y0; int dy = y1 - y0; // Khoảng cách theo trục Y
unsigned int abs_dx = abs(dx); unsigned int abs_dx = abs(dx);
unsigned int abs_dy = abs(dy); unsigned int abs_dy = abs(dy);
int offset_dx = sign(dx); int offset_dx = sign(dx); // Hướng đi theo X
int offset_dy = sign(dy) * size_x_; int offset_dy = sign(dy) * size_x_; // Hướng đi theo Y (theo stride của hàng)
unsigned int offset = y0 * size_x_ + x0; unsigned int offset = y0 * size_x_ + x0; // Vị trí bắt đầu trong mảng costmap
// we need to chose how much to scale our dominant dimension, based on the maximum length of the line double dist = hypot(dx, dy); // Chiều dài đoạn thẳng
double dist = hypot(dx, dy);
double scale = (dist == 0.0) ? 1.0 : std::min(1.0, max_length / dist); double scale = (dist == 0.0) ? 1.0 : std::min(1.0, max_length / dist);
// if x is dominant // Xét hướng nào là trục chính (dominant)
if (abs_dx >= abs_dy) if (abs_dx >= abs_dy)
{ {
int error_y = abs_dx / 2; int error_y = abs_dx / 2;
@ -348,14 +289,13 @@ protected:
return; return;
} }
// otherwise y is dominant
int error_x = abs_dy / 2; int error_x = abs_dy / 2;
bresenham2D(at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy)); bresenham2D(at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy));
} }
private: private:
/** /**
* @brief A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step * Triển khai Bresenham 2D — đi qua từng ô trên đường thẳng và gọi “at(offset)” mỗi bước.
*/ */
template<class ActionType> template<class ActionType>
inline void bresenham2D(ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, inline void bresenham2D(ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a,
@ -364,33 +304,38 @@ private:
unsigned int end = std::min(max_length, abs_da); unsigned int end = std::min(max_length, abs_da);
for (unsigned int i = 0; i < end; ++i) for (unsigned int i = 0; i < end; ++i)
{ {
at(offset); at(offset); // Gọi hành động (thường là đánh dấu costmap)
offset += offset_a; offset += offset_a; // Tiến thêm 1 bước theo hướng chính
error_b += abs_db; error_b += abs_db;
if ((unsigned int)error_b >= abs_da) if ((unsigned int)error_b >= abs_da)
{ {
offset += offset_b; offset += offset_b; // Bước sang hàng tiếp theo khi sai số tích lũy đủ lớn
error_b -= abs_da; error_b -= abs_da;
} }
} }
at(offset); at(offset); // Xử lý ô cuối cùng
} }
/// Trả về dấu của số nguyên (x>0:1, x<0:-1)
inline int sign(int x) inline int sign(int x)
{ {
return x > 0 ? 1.0 : -1.0; return x > 0 ? 1.0 : -1.0;
} }
mutex_t* access_; mutex_t* access_; // Con trỏ đến mutex (đồng bộ truy cập costmap giữa các thread)
protected:
unsigned int size_x_;
unsigned int size_y_;
double resolution_;
double origin_x_;
double origin_y_;
unsigned char* costmap_;
unsigned char default_value_;
protected:
unsigned int size_x_; // Số lượng ô theo trục X
unsigned int size_y_; // Số lượng ô theo trục Y
double resolution_; // Độ phân giải: mét/ô
double origin_x_; // Tọa độ gốc bản đồ (theo thế giới) trục X
double origin_y_; // Tọa độ gốc bản đồ (theo thế giới) trục Y
unsigned char* costmap_; // Mảng 1 chiều chứa giá trị cost của toàn bộ bản đồ
unsigned char default_value_; // Giá trị mặc định cho các ô (thường = 0 hoặc 255 nếu unknown)
/**
* Functor nội bộ: dùng trong raytraceLine để đánh dấu một ô.
*/
class MarkCell class MarkCell
{ {
public: public:
@ -400,13 +345,16 @@ protected:
} }
inline void operator()(unsigned int offset) inline void operator()(unsigned int offset)
{ {
costmap_[offset] = value_; costmap_[offset] = value_; // Gán cost của ô bằng giá trị value_
} }
private: private:
unsigned char* costmap_; unsigned char* costmap_;
unsigned char value_; unsigned char value_;
}; };
/**
* Functor nội bộ: dùng để thu thập các ô nằm trên viền polygon.
*/
class PolygonOutlineCells class PolygonOutlineCells
{ {
public: public:
@ -415,12 +363,11 @@ protected:
{ {
} }
// just push the relevant cells back onto the list
inline void operator()(unsigned int offset) inline void operator()(unsigned int offset)
{ {
MapLocation loc; MapLocation loc;
costmap_.indexToCells(offset, loc.x, loc.y); costmap_.indexToCells(offset, loc.x, loc.y); // Chuyển index → (x, y)
cells_.push_back(loc); cells_.push_back(loc); // Thêm ô này vào danh sách viền polygon
} }
private: private:
@ -432,4 +379,4 @@ protected:
} // namespace costmap_2d } // namespace costmap_2d
#endif // COSTMAP_2D_COSTMAP_2D_H #endif // COSTMAP_2D_COSTMAP_2D_H_

151
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@ -0,0 +1,151 @@
/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#ifndef COSTMAP_2D_COSTMAP_LAYER_H_
#define COSTMAP_2D_COSTMAP_LAYER_H_
#include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
namespace costmap_2d
{
class CostmapLayer : public Layer, public Costmap2D
{
public:
CostmapLayer() : has_extra_bounds_(false),
extra_min_x_(1e6), extra_max_x_(-1e6),
extra_min_y_(1e6), extra_max_y_(-1e6) {}
bool isDiscretized()
{
return true;
}
virtual void matchSize();
virtual void clearArea(int start_x, int start_y, int end_x, int end_y, bool invert_area=false);
/**
* If an external source changes values in the costmap,
* it should call this method with the area that it changed
* to ensure that the costmap includes this region as well.
* @param mx0 Minimum x value of the bounding box
* @param my0 Minimum y value of the bounding box
* @param mx1 Maximum x value of the bounding box
* @param my1 Maximum y value of the bounding box
*/
void addExtraBounds(double mx0, double my0, double mx1, double my1);
protected:
/*
* Updates the master_grid within the specified
* bounding box using this layer's values.
*
* TrueOverwrite means every value from this layer
* is written into the master grid.
*/
void updateWithTrueOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
/*
* Updates the master_grid within the specified
* bounding box using this layer's values.
*
* Overwrite means every valid value from this layer
* is written into the master grid (does not copy NO_INFORMATION)
*/
void updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
/*
* Updates the master_grid within the specified
* bounding box using this layer's values.
*
* Sets the new value to the maximum of the master_grid's value
* and this layer's value. If the master value is NO_INFORMATION,
* it is overwritten. If the layer's value is NO_INFORMATION,
* the master value does not change.
*/
void updateWithMax(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
/*
* Updates the master_grid within the specified
* bounding box using this layer's values.
*
* Sets the new value to the sum of the master grid's value
* and this layer's value. If the master value is NO_INFORMATION,
* it is overwritten with the layer's value. If the layer's value
* is NO_INFORMATION, then the master value does not change.
*
* If the sum value is larger than INSCRIBED_INFLATED_OBSTACLE,
* the master value is set to (INSCRIBED_INFLATED_OBSTACLE - 1).
*/
void updateWithAddition(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
/**
* Updates the bounding box specified in the parameters to include
* the location (x,y)
*
* @param x x-coordinate to include
* @param y y-coordinate to include
* @param min_x bounding box
* @param min_y bounding box
* @param max_x bounding box
* @param max_y bounding box
*/
void touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y);
/*
* Updates the bounding box specified in the parameters
* to include the bounding box from the addExtraBounds
* call. If addExtraBounds was not called, the method will do nothing.
*
* Should be called at the beginning of the updateBounds method
*
* @param min_x bounding box (input and output)
* @param min_y bounding box (input and output)
* @param max_x bounding box (input and output)
* @param max_y bounding box (input and output)
*/
void useExtraBounds(double* min_x, double* min_y, double* max_x, double* max_y);
bool has_extra_bounds_;
private:
double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_;
};
} // namespace costmap_2d
#endif // COSTMAP_2D_COSTMAP_LAYER_H_

69
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@ -0,0 +1,69 @@
/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#ifndef COSTMAP_2D_COSTMAP_MATH_H_
#define COSTMAP_2D_COSTMAP_MATH_H_
#include <math.h>
#include <algorithm>
#include <vector>
#include<costmap_2d/msg.h>
/** @brief Return -1 if x < 0, +1 otherwise. */
inline double sign(double x)
{
return x < 0.0 ? -1.0 : 1.0;
}
/** @brief Same as sign(x) but returns 0 if x is 0. */
inline double sign0(double x)
{
return x < 0.0 ? -1.0 : (x > 0.0 ? 1.0 : 0.0);
}
inline double distance(double x0, double y0, double x1, double y1)
{
return hypot(x1 - x0, y1 - y0);
}
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1);
bool intersects(std::vector<costmap_2d::Point>& polygon, float testx, float testy);
bool intersects(std::vector<costmap_2d::Point>& polygon1, std::vector<costmap_2d::Point>& polygon2);
#endif // COSTMAP_2D_COSTMAP_MATH_H_

19
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@ -0,0 +1,19 @@
#ifndef COSTMAP_2D_CRITICAL_LAYER_H_
#define COSTMAP_2D_CRITICAL_LAYER_H_
#include <costmap_2d/static_layer.h>
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_

147
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@ -0,0 +1,147 @@
/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#ifndef COSTMAP_2D_FOOTPRINT_H
#define COSTMAP_2D_FOOTPRINT_H
#include<costmap_2d/msg.h>
#include<string.h>
#include<vector>
using namespace std;
namespace costmap_2d
{
/**
* @brief Calculate the extreme distances for the footprint
*
* @param footprint The footprint to examine
* @param min_dist Output parameter of the minimum distance
* @param max_dist Output parameter of the maximum distance
*/
void calculateMinAndMaxDistances(const std::vector<Point>& footprint,
double& min_dist, double& max_dist);
/**
* @brief Convert Point32 to Point
*/
Point toPoint(Point32 pt);
/**
* @brief Convert Point to Point32
*/
Point32 toPoint32(Point pt);
/**
* @brief Convert vector of Points to Polygon msg
*/
Polygon toPolygon(std::vector<Point> pts);
/**
* @brief Convert Polygon msg to vector of Points.
*/
std::vector<Point> toPointVector(Polygon polygon);
/**
* @brief Given a pose and base footprint, build the oriented footprint of the robot (list of Points)
* @param x The x position of the robot
* @param y The y position of the robot
* @param theta The orientation of the robot
* @param footprint_spec Basic shape of the footprint
* @param oriented_footprint Will be filled with the points in the oriented footprint of the robot
*/
void transformFootprint(double x, double y, double theta, const std::vector<Point>& footprint_spec,
std::vector<Point>& oriented_footprint);
/**
* @brief Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)
* @param x The x position of the robot
* @param y The y position of the robot
* @param theta The orientation of the robot
* @param footprint_spec Basic shape of the footprint
* @param oriented_footprint Will be filled with the points in the oriented footprint of the robot
*/
void transformFootprint(double x, double y, double theta, const std::vector<Point>& footprint_spec,
PolygonStamped & oriented_footprint);
/**
* @brief Adds the specified amount of padding to the footprint (in place)
*/
void padFootprint(std::vector<Point>& footprint, double padding);
/**
* @brief Create a circular footprint from a given radius
*/
std::vector<Point> makeFootprintFromRadius(double radius);
/**
* @brief Make the footprint from the given string.
*
* Format should be bracketed array of arrays of floats, like so: [[1.0, 2.2], [3.3, 4.2], ...]
*
*/
bool makeFootprintFromString(const std::string& footprint_string, std::vector<Point>& footprint);
/**
* @brief Read the ros-params "footprint" and/or "robot_radius" from
* the given NodeHandle using searchParam() to go up the tree.
*/
std::vector<Point> makeFootprintFromParams(std::string& nh);
/**
* @brief Create the footprint from the given XmlRpcValue.
*
* @param footprint_xmlrpc should be an array of arrays, where the
* top-level array should have 3 or more elements, and the
* sub-arrays should all have exactly 2 elements (x and y
* coordinates).
*
* @param full_param_name this is the full name of the rosparam from
* which the footprint_xmlrpc value came. It is used only for
* reporting errors. */
std::vector<Point> makeFootprintFromXMLRPC(XmlRpcValue& footprint_xmlrpc,
const std::string& full_param_name);
/** @brief Write the current unpadded_footprint_ to the "footprint"
* parameter of the given NodeHandle so that dynamic_reconfigure
* will see the new value. */
void writeFootprintToParam(std::string& nh, const std::vector<Point>& footprint);
} // end namespace costmap_2d
#endif // COSTMAP_2D_FOOTPRINT_H

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#ifndef COSTMAP_2D_INFLATION_LAYER_H_
#define COSTMAP_2D_INFLATION_LAYER_H_
// #include <ros/ros.h>
// #include <costmap_2d/layer.h>
// #include <costmap_2d/layered_costmap.h>
// #include <costmap_2d/InflationPluginConfig.h>
// #include <dynamic_reconfigure/server.h>
// #include <boost/thread.hpp>
// namespace costmap_2d
// {
// /**
// * @class CellData
// * @brief Storage for cell information used during obstacle inflation
// */
// class CellData
// {
// public:
// /**
// * @brief Constructor for a CellData objects
// * @param i The index of the cell in the cost map
// * @param x The x coordinate of the cell in the cost map
// * @param y The y coordinate of the cell in the cost map
// * @param sx The x coordinate of the closest obstacle cell in the costmap
// * @param sy The y coordinate of the closest obstacle cell in the costmap
// * @return
// */
// CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) :
// index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
// {
// }
// unsigned int index_;
// unsigned int x_, y_;
// unsigned int src_x_, src_y_;
// };
// class InflationLayer : public Layer
// {
// public:
// InflationLayer();
// virtual ~InflationLayer()
// {
// deleteKernels();
// if (dsrv_)
// delete dsrv_;
// if (seen_)
// delete[] seen_;
// }
// virtual void onInitialize();
// virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
// double* max_x, double* max_y);
// virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
// virtual bool isDiscretized()
// {
// return true;
// }
// virtual void matchSize();
// virtual void reset() { onInitialize(); }
// /** @brief Given a distance, compute a cost.
// * @param distance The distance from an obstacle in cells
// * @return A cost value for the distance */
// virtual inline unsigned char computeCost(double distance) const
// {
// unsigned char cost = 0;
// if (distance == 0)
// cost = LETHAL_OBSTACLE;
// else if (distance * resolution_ <= inscribed_radius_)
// cost = INSCRIBED_INFLATED_OBSTACLE;
// else
// {
// // make sure cost falls off by Euclidean distance
// double euclidean_distance = distance * resolution_;
// double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_));
// cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
// }
// return cost;
// }
// /**
// * @brief Change the values of the inflation radius parameters
// * @param inflation_radius The new inflation radius
// * @param cost_scaling_factor The new weight
// */
// void setInflationParameters(double inflation_radius, double cost_scaling_factor);
// protected:
// virtual void onFootprintChanged();
// boost::recursive_mutex* inflation_access_;
// double resolution_;
// double inflation_radius_;
// double inscribed_radius_;
// double weight_;
// bool inflate_unknown_;
// private:
// /**
// * @brief Lookup pre-computed distances
// * @param mx The x coordinate of the current cell
// * @param my The y coordinate of the current cell
// * @param src_x The x coordinate of the source cell
// * @param src_y The y coordinate of the source cell
// * @return
// */
// inline double distanceLookup(int mx, int my, int src_x, int src_y)
// {
// unsigned int dx = abs(mx - src_x);
// unsigned int dy = abs(my - src_y);
// return cached_distances_[dx][dy];
// }
// /**
// * @brief Lookup pre-computed costs
// * @param mx The x coordinate of the current cell
// * @param my The y coordinate of the current cell
// * @param src_x The x coordinate of the source cell
// * @param src_y The y coordinate of the source cell
// * @return
// */
// inline unsigned char costLookup(int mx, int my, int src_x, int src_y)
// {
// unsigned int dx = abs(mx - src_x);
// unsigned int dy = abs(my - src_y);
// return cached_costs_[dx][dy];
// }
// void computeCaches();
// void deleteKernels();
// void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
// unsigned int cellDistance(double world_dist)
// {
// return layered_costmap_->getCostmap()->cellDistance(world_dist);
// }
// inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
// unsigned int src_x, unsigned int src_y);
// unsigned int cell_inflation_radius_;
// unsigned int cached_cell_inflation_radius_;
// std::map<double, std::vector<CellData> > inflation_cells_;
// bool* seen_;
// int seen_size_;
// unsigned char** cached_costs_;
// double** cached_distances_;
// double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
// void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
// bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
// };
// } // namespace costmap_2d
#endif // COSTMAP_2D_INFLATION_LAYER_H_

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: David V. Lu!!
*********************************************************************/
#ifndef COSTMAP_2D_LAYER_H_
#define COSTMAP_2D_LAYER_H_
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <string>
#include "tf2/buffer_core.h"
namespace costmap_2d
{
class LayeredCostmap;
class Layer
{
public:
Layer();
void initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf);
/**
* @brief This is called by the LayeredCostmap to poll this plugin as to how
* much of the costmap it needs to update. Each layer can increase
* the size of this bounds.
*
* For more details, see "Layered Costmaps for Context-Sensitive Navigation",
* by Lu et. Al, IROS 2014.
*/
virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
double* max_x, double* max_y) {}
/**
* @brief Actually update the underlying costmap, only within the bounds
* calculated during UpdateBounds().
*/
virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) {}
/** @brief Stop publishers. */
virtual void deactivate() {}
/** @brief Restart publishers if they've been stopped. */
virtual void activate() {}
virtual void reset() {}
virtual ~Layer() {}
/**
* @brief Check to make sure all the data in the layer is up to date.
* If the layer is not up to date, then it may be unsafe to
* plan using the data from this layer, and the planner may
* need to know.
*
* A layer's current state should be managed by the protected
* variable current_.
* @return Whether the data in the layer is up to date.
*/
bool isCurrent() const
{
return current_;
}
/**
* @brief getter if the current layer is enabled.
*
* The user may enable/disable a layer though dynamic reconfigure.
* Disabled layers won't receive calls to
* - Layer::updateCosts
* - Layer::updateBounds
* - Layer::isCurrent
* from the LayeredCostmap.
*
* Calls to Layer::activate, Layer::deactivate and Layer::reset won't be
* blocked.
*/
inline bool isEnabled() const noexcept
{
return enabled_;
}
/** @brief Implement this to make this layer match the size of the parent costmap. */
virtual void matchSize() {}
inline const std::string& getName() const noexcept
{
return name_;
}
/** @brief Convenience function for layered_costmap_->getFootprint(). */
const std::vector<Point>& getFootprint() const;
/** @brief LayeredCostmap calls this whenever the footprint there
* changes (via LayeredCostmap::setFootprint()). Override to be
* notified of changes to the robot's footprint. */
virtual void onFootprintChanged() {}
protected:
/** @brief This is called at the end of initialize(). Override to
* implement subclass-specific initialization.
*
* tf_, name_, and layered_costmap_ will all be set already when this is called. */
virtual void onInitialize() {}
LayeredCostmap* layered_costmap_;
bool current_;
bool enabled_;
std::string name_;
std::shared_ptr<tf2::BufferCore> *tf_;
private:
std::vector<Point> footprint_spec_;
};
} // namespace costmap_2d
#endif // COSTMAP_2D_LAYER_H_

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#ifndef COSTMAP_2D_LAYERED_COSTMAP_H_
#define COSTMAP_2D_LAYERED_COSTMAP_H_
#include <costmap_2d/cost_values.h> // Chứa các hằng số giá trị chi phí (ví dụ: FREE_SPACE, LETHAL_OBSTACLE, NO_INFORMATION)
#include <costmap_2d/layer.h> // Lớp cơ sở cho các lớp (layer) con: static layer, obstacle layer, inflation layer...
#include <costmap_2d/costmap_2d.h> // Định nghĩa lớp Costmap2D (bản đồ 2D cơ bản)
#include <vector>
#include <string>
namespace costmap_2d
{
class Layer; // Khai báo trước để dùng trong vector plugin
/**
* @class LayeredCostmap
* @brief Lớp này quản lý nhiều "layer" (tầng bản đồ) khác nhau và kết hợp chúng thành một bản đồ chi phí tổng hợp.
* Mỗi layer có thể chứa thông tin khác nhau: chướng ngại vật, vùng lạm phát, vùng cấm, v.v.
*/
class LayeredCostmap
{
public:
/**
* @brief Hàm khởi tạo LayeredCostmap.
* @param global_frame: Tên frame toàn cục (ví dụ: "map" hoặc "odom").
* @param rolling_window: Nếu true, bản đồ sẽ "trượt" theo robot (rolling window).
* @param track_unknown: Nếu true, sẽ lưu trữ vùng chưa biết (NO_INFORMATION).
*/
LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown);
/**
* @brief Hàm huỷ lớp LayeredCostmap.
*/
~LayeredCostmap();
/**
* @brief Cập nhật bản đồ tổng hợp từ tất cả các layer.
* @param robot_x, robot_y, robot_yaw: vị trí và hướng hiện tại của robot.
* @note Hàm này gọi updateBounds() và updateCosts() trên từng layer.
*/
void updateMap(double robot_x, double robot_y, double robot_yaw);
/// @brief Trả về frame toàn cục (ví dụ "map").
inline const std::string& getGlobalFrameID() const noexcept
{
return global_frame_;
}
/**
* @brief Thay đổi kích thước bản đồ (số ô, độ phân giải, gốc).
* @param size_x, size_y: kích thước theo ô (cells).
* @param resolution: độ phân giải (mỗi ô = bao nhiêu mét).
* @param origin_x, origin_y: toạ độ gốc của bản đồ.
* @param size_locked: nếu true, không cho phép thay đổi kích thước sau này.
*/
void resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y,
bool size_locked = false);
/**
* @brief Lấy vùng bản đồ bị thay đổi gần nhất sau lần cập nhật gần nhất.
* @param [out] minx, miny, maxx, maxy: toạ độ của vùng được cập nhật.
*/
void getUpdatedBounds(double& minx, double& miny, double& maxx, double& maxy)
{
minx = minx_;
miny = miny_;
maxx = maxx_;
maxy = maxy_;
}
/**
* @brief Kiểm tra xem tất cả các layer hiện tại có dữ liệu mới nhất (current) hay không.
* @return true nếu tất cả layer đều cập nhật.
*/
bool isCurrent();
/**
* @brief Trả về con trỏ đến bản đồ Costmap2D cơ sở (master map).
*/
Costmap2D* getCostmap()
{
return &costmap_;
}
/**
* @brief Kiểm tra xem bản đồ có phải kiểu "rolling window" không.
*/
bool isRolling()
{
return rolling_window_;
}
/**
* @brief Kiểm tra xem bản đồ có đang lưu trữ vùng "chưa biết" không (NO_INFORMATION).
*/
bool isTrackingUnknown()
{
return costmap_.getDefaultValue() == costmap_2d::NO_INFORMATION;
}
/**
* @brief Trả về danh sách các plugin (layer) đã được nạp.
* @return vector các shared_ptr<Layer>.
*/
std::vector<boost::shared_ptr<Layer> >* getPlugins()
{
return &plugins_;
}
/**
* @brief Thêm một plugin (layer) mới vào bản đồ.
* @param plugin: con trỏ thông minh đến lớp layer.
*/
void addPlugin(boost::shared_ptr<Layer> plugin)
{
plugins_.push_back(plugin);
}
/**
* @brief Kiểm tra xem bản đồ có bị khoá kích thước không.
*/
bool isSizeLocked()
{
return size_locked_;
}
/**
* @brief Lấy giới hạn vùng bản đồ được cập nhật trong lần gọi update gần nhất.
* @param [out] x0, xn, y0, yn: chỉ số ô (cells) bắt đầu và kết thúc.
*/
void getBounds(unsigned int* x0, unsigned int* xn, unsigned int* y0, unsigned int* yn)
{
*x0 = bx0_;
*xn = bxn_;
*y0 = by0_;
*yn = byn_;
}
/**
* @brief Kiểm tra xem lớp LayeredCostmap đã được khởi tạo hoàn chỉnh chưa.
*/
bool isInitialized()
{
return initialized_;
}
/**
* @brief Cập nhật footprint (hình dạng chiếm chỗ của robot).
* Đồng thời tính lại bán kính bao quanh và nội tiếp.
* Gọi hàm onFootprintChanged() của tất cả layer.
* @param footprint_spec: vector các điểm (geometry_msgs::Point) mô tả đa giác footprint.
*/
void setFootprint(const std::vector<Point>& footprint_spec);
/**
* @brief Trả về footprint hiện tại của robot.
*/
const std::vector<Point>& getFootprint() { return footprint_; }
/**
* @brief Bán kính đường tròn bao ngoài (circumscribed radius):
* bán kính nhỏ nhất của đường tròn chứa toàn bộ robot.
*/
double getCircumscribedRadius() { return circumscribed_radius_; }
/**
* @brief Bán kính đường tròn nội tiếp (inscribed radius):
* bán kính lớn nhất của đường tròn nằm hoàn toàn bên trong footprint robot.
*/
double getInscribedRadius() { return inscribed_radius_; }
private:
Costmap2D costmap_; ///< Bản đồ 2D chính (lưu ma trận chi phí tổng hợp)
std::string global_frame_; ///< Frame toàn cục (thường là "map" hoặc "odom")
bool rolling_window_; ///< Nếu true, bản đồ sẽ di chuyển theo robot (bản đồ trượt)
bool current_; ///< Cờ đánh dấu tất cả các layer có dữ liệu mới nhất hay không
double minx_, miny_, maxx_, maxy_; ///< Giới hạn vùng bản đồ được cập nhật (tọa độ thế giới)
unsigned int bx0_, bxn_, by0_, byn_; ///< Giới hạn vùng bản đồ được cập nhật (tọa độ lưới)
std::vector<boost::shared_ptr<Layer> > plugins_; ///< Danh sách các layer plugin (ví dụ: StaticLayer, ObstacleLayer, InflationLayer)
bool initialized_; ///< Đã được khởi tạo hoàn toàn hay chưa
bool size_locked_; ///< Có cho phép thay đổi kích thước bản đồ sau này không
double circumscribed_radius_, inscribed_radius_; ///< Hai bán kính của footprint robot (bao ngoài và nội tiếp)
std::vector<Point> footprint_; ///< Đa giác mô tả footprint robot
};
} // namespace costmap_2d
#endif // COSTMAP_2D_LAYERED_COSTMAP_H_

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#ifndef COSTMAP_2D_COST_VALUES_H_MSG
#define COSTMAP_2D_COST_VALUES_H_MSG
/** Provides a mapping for often used cost values */
#include<vector>
namespace costmap_2d
{
struct Point
{
double x;
double y;
double z;
};
struct Point32
{
float x;
float y;
float z;
};
struct Polygon
{
std::vector<Point32> points;
};
struct PolygonStamped
{
// std_msgs/Header header; // Ignored for simplicity
Polygon polygon;
};
struct XmlRpcValue
{
std::vector<Point32> 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
{
uint32_t height;
uint32_t width;
std::vector<PointField> fields;
bool is_bigendian;
uint32_t point_step;
uint32_t row_step;
std::vector<uint8_t> data;
bool is_dense;
};
}
#endif // COSTMAP_2D_COST_VALUES_H_MSG

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef COSTMAP_2D_OBSERVATION_BUFFER_H_
#define COSTMAP_2D_OBSERVATION_BUFFER_H_
#include <vector>
#include <list>
#include <string>
#include <ros/time.h>
#include <costmap_2d/observation.h>
#include <tf2_ros/buffer.h>
#include <sensor_msgs/PointCloud2.h>
// Thread support
#include <boost/thread.hpp>
namespace costmap_2d
{
/**
* @class ObservationBuffer
* @brief Takes in point clouds from sensors, transforms them to the desired frame, and stores them
*/
class ObservationBuffer
{
public:
/**
* @brief Constructs an observation buffer
* @param topic_name The topic of the observations, used as an identifier for error and warning messages
* @param observation_keep_time Defines the persistence of observations in seconds, 0 means only keep the latest
* @param expected_update_rate How often this buffer is expected to be updated, 0 means there is no limit
* @param min_obstacle_height The minimum height of a hitpoint to be considered legal
* @param max_obstacle_height The minimum height of a hitpoint to be considered legal
* @param obstacle_range The range to which the sensor should be trusted for inserting obstacles
* @param raytrace_range The range to which the sensor should be trusted for raytracing to clear out space
* @param tf2_buffer A reference to a tf2 Buffer
* @param global_frame The frame to transform PointClouds into
* @param sensor_frame The frame of the origin of the sensor, can be left blank to be read from the messages
* @param tf_tolerance The amount of time to wait for a transform to be available when setting a new global frame
*/
ObservationBuffer(std::string topic_name, double observation_keep_time, double expected_update_rate,
double min_obstacle_height, double max_obstacle_height, double obstacle_range,
double raytrace_range, tf2_ros::Buffer& tf2_buffer, std::string global_frame,
std::string sensor_frame, double tf_tolerance);
/**
* @brief Destructor... cleans up
*/
~ObservationBuffer();
/**
* @brief Sets the global frame of an observation buffer. This will
* transform all the currently cached observations to the new global
* frame
* @param new_global_frame The name of the new global frame.
* @return True if the operation succeeds, false otherwise
*/
bool setGlobalFrame(const std::string new_global_frame);
/**
* @brief Transforms a PointCloud to the global frame and buffers it
* <b>Note: The burden is on the user to make sure the transform is available... ie they should use a MessageNotifier</b>
* @param cloud The cloud to be buffered
*/
void bufferCloud(const sensor_msgs::PointCloud2& cloud);
/**
* @brief Pushes copies of all current observations onto the end of the vector passed in
* @param observations The vector to be filled
*/
void getObservations(std::vector<Observation>& observations);
/**
* @brief Check if the observation buffer is being update at its expected rate
* @return True if it is being updated at the expected rate, false otherwise
*/
bool isCurrent() const;
/**
* @brief Lock the observation buffer
*/
inline void lock()
{
lock_.lock();
}
/**
* @brief Lock the observation buffer
*/
inline void unlock()
{
lock_.unlock();
}
/**
* @brief Reset last updated timestamp
*/
void resetLastUpdated();
private:
/**
* @brief Removes any stale observations from the buffer list
*/
void purgeStaleObservations();
tf2_ros::Buffer& tf2_buffer_;
const ros::Duration observation_keep_time_;
const ros::Duration expected_update_rate_;
ros::Time last_updated_;
std::string global_frame_;
std::string sensor_frame_;
std::list<Observation> observation_list_;
std::string topic_name_;
double min_obstacle_height_, max_obstacle_height_;
boost::recursive_mutex lock_; ///< @brief A lock for accessing data in callbacks safely
double obstacle_range_, raytrace_range_;
double tf_tolerance_;
};
} // namespace costmap_2d
#endif // COSTMAP_2D_OBSERVATION_BUFFER_H_

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#ifndef COSTMAP_2D_STATIC_LAYER_H_
#define COSTMAP_2D_STATIC_LAYER_H_
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/GenericPluginConfig.h>
#include <dynamic_reconfigure/server.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <message_filters/subscriber.h>
#include <string>
namespace costmap_2d
{
class StaticLayer : public CostmapLayer
{
public:
StaticLayer();
virtual ~StaticLayer();
virtual void onInitialize();
virtual void activate();
virtual void deactivate();
virtual void reset();
virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
double* max_x, double* max_y);
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void matchSize();
protected:
virtual unsigned char interpretValue(unsigned char value);
virtual void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
virtual void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
unsigned char* threshold_;
std::string base_frame_id_;
std::string global_frame_; ///< @brief The global frame for the costmap
std::string map_frame_; /// @brief frame that map is located in
std::string map_topic_; // Hiep thêm vào mục đich phân biết zones
bool subscribe_to_updates_;
bool map_received_;
bool has_updated_data_;
unsigned int x_, y_, width_, height_;
bool track_unknown_space_;
bool use_maximum_;
bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing
bool trinary_costmap_;
ros::Subscriber map_sub_, map_update_sub_;
unsigned char lethal_threshold_, unknown_cost_value_;
private:
/**
* @brief Callback to update the costmap's map from the map_server
* @param new_map The map to put into the costmap. The origin of the new
* map along with its size will determine what parts of the costmap's
* static map are overwritten.
*/
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
};
} // namespace costmap_2d
#endif // COSTMAP_2D_STATIC_LAYER_H_

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#include <costmap_2d/critical_layer.h>
#include <boost/dll/alias.hpp>
#include "shared.h"
PLUGINLIB_EXPORT_CLASS(costmap_2d::CriticalLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::CRITICAL_SPACE;
namespace costmap_2d
{
CriticalLayer::CriticalLayer(){}
CriticalLayer::~CriticalLayer(){}
unsigned char CriticalLayer::interpretValue(unsigned char value)
{
// check if the static value is above the unknown or lethal thresholds
if(value >= *this->threshold_)
return CRITICAL_SPACE;
else
return NO_INFORMATION;
}
void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!map_received_)
return;
// if not rolling, the layered costmap (master_grid) has same coordinates as this layer
if (!use_maximum_)
updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
else
updateWithMax(master_grid, min_i, min_j, max_i, max_j);
}
}

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#include <costmap_2d/directional_layer.h>
#include <pluginlib/class_list_macros.hpp>
#include <tf/transform_listener.h>
#include <tf2/convert.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf/transform_datatypes.h>
PLUGINLIB_EXPORT_CLASS(costmap_2d::DirectionalLayer, costmap_2d::Layer)
#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
using costmap_2d::CRITICAL_SPACE;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::NO_INFORMATION;
namespace costmap_2d
{
DirectionalLayer::DirectionalLayer()
{
ros::NodeHandle nh("~/" + name_);
lane_mask_pub_ = nh.advertise<nav_msgs::OccupancyGrid>("/direction_zones/lanes", 1);
}
DirectionalLayer::~DirectionalLayer() {}
bool DirectionalLayer::laneFilter(const std::vector<geometry_msgs::PoseStamped> 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;
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;
// 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_;
// 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<std::array<uint16_t, 2>> new_map, const nav_msgs::Path path)
{
boost::unique_lock<mutex_t> lock(*layered_costmap_->getCostmap()->getMutex());
if (new_map.empty())
return false;
std::vector<std::pair<unsigned int, double>> X_List, Y_List;
std::vector<double> Yaw_list;
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<unsigned int, double> x_val(mx, p.pose.position.x);
std::pair<unsigned int, double> 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;
}
}
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;
}
void DirectionalLayer::laneFilter(std::vector<std::pair<unsigned int, double>> x,
std::vector<std::pair<unsigned int, double>> y,
std::vector<double> 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;
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);
}
// 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;
}
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;
}
}
}
}
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::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;
}
}

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/obstacle_layer.h>
#include <costmap_2d/costmap_math.h>
#include <tf2_ros/message_filter.h>
#include <pluginlib/class_list_macros.hpp>
#include <sensor_msgs/point_cloud2_iterator.h>
PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
using costmap_2d::ObservationBuffer;
using costmap_2d::Observation;
namespace costmap_2d
{
void ObstacleLayer::onInitialize()
{
ros::NodeHandle nh("~/" + name_), g_nh;
rolling_window_ = layered_costmap_->isRolling();
bool track_unknown_space;
nh.param("track_unknown_space", track_unknown_space, layered_costmap_->isTrackingUnknown());
if (track_unknown_space)
default_value_ = NO_INFORMATION;
else
default_value_ = FREE_SPACE;
ObstacleLayer::matchSize();
current_ = true;
global_frame_ = layered_costmap_->getGlobalFrameID();
double transform_tolerance;
nh.param("transform_tolerance", transform_tolerance, 0.2);
std::string topics_string;
// get the topics that we'll subscribe to from the parameter server
nh.param("observation_sources", topics_string, std::string(""));
ROS_INFO(" Subscribed to Topics: %s", topics_string.c_str());
// now we need to split the topics based on whitespace which we can use a stringstream for
std::stringstream ss(topics_string);
std::string source;
while (ss >> source)
{
ros::NodeHandle source_node(nh, source);
// get the parameters for the specific topic
double observation_keep_time, expected_update_rate, min_obstacle_height, max_obstacle_height;
std::string topic, sensor_frame, data_type;
bool inf_is_valid, clearing, marking;
source_node.param("topic", topic, source);
source_node.param("sensor_frame", sensor_frame, std::string(""));
source_node.param("observation_persistence", observation_keep_time, 0.0);
source_node.param("expected_update_rate", expected_update_rate, 0.0);
source_node.param("data_type", data_type, std::string("PointCloud"));
source_node.param("min_obstacle_height", min_obstacle_height, 0.0);
source_node.param("max_obstacle_height", max_obstacle_height, 2.0);
source_node.param("inf_is_valid", inf_is_valid, false);
source_node.param("clearing", clearing, false);
source_node.param("marking", marking, true);
if (!(data_type == "PointCloud2" || data_type == "PointCloud" || data_type == "LaserScan"))
{
ROS_FATAL("Only topics that use point clouds or laser scans are currently supported");
throw std::runtime_error("Only topics that use point clouds or laser scans are currently supported");
}
std::string raytrace_range_param_name, obstacle_range_param_name;
// get the obstacle range for the sensor
double obstacle_range = 2.5;
if (source_node.searchParam("obstacle_range", obstacle_range_param_name))
{
source_node.getParam(obstacle_range_param_name, obstacle_range);
}
// get the raytrace range for the sensor
double raytrace_range = 3.0;
if (source_node.searchParam("raytrace_range", raytrace_range_param_name))
{
source_node.getParam(raytrace_range_param_name, raytrace_range);
}
ROS_DEBUG("Creating an observation buffer for source %s, topic %s, frame %s", source.c_str(), topic.c_str(),
sensor_frame.c_str());
// create an observation buffer
observation_buffers_.push_back(
boost::shared_ptr < ObservationBuffer
> (new ObservationBuffer(topic, observation_keep_time, expected_update_rate, min_obstacle_height,
max_obstacle_height, obstacle_range, raytrace_range, *tf_, global_frame_,
sensor_frame, transform_tolerance)));
// check if we'll add this buffer to our marking observation buffers
if (marking)
marking_buffers_.push_back(observation_buffers_.back());
// check if we'll also add this buffer to our clearing observation buffers
if (clearing)
clearing_buffers_.push_back(observation_buffers_.back());
ROS_DEBUG(
"Created an observation buffer for source %s, topic %s, global frame: %s, "
"expected update rate: %.2f, observation persistence: %.2f",
source.c_str(), topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time);
// create a callback for the topic
if (data_type == "LaserScan")
{
boost::shared_ptr < message_filters::Subscriber<sensor_msgs::LaserScan>
> sub(new message_filters::Subscriber<sensor_msgs::LaserScan>(g_nh, topic, 50));
boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::LaserScan> > filter(
new tf2_ros::MessageFilter<sensor_msgs::LaserScan>(*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); });
}
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<sensor_msgs::PointCloud>
> sub(new message_filters::Subscriber<sensor_msgs::PointCloud>(g_nh, topic, 50));
if (inf_is_valid)
{
ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.");
}
boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud>
> filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud>(*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<sensor_msgs::PointCloud2>
> sub(new message_filters::Subscriber<sensor_msgs::PointCloud2>(g_nh, topic, 50));
if (inf_is_valid)
{
ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.");
}
boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud2>
> filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud2>(*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);
}
}
dsrv_ = NULL;
setupDynamicReconfigure(nh);
}
void ObstacleLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
{
dsrv_ = new dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>::CallbackType cb =
[this](auto& config, auto level){ reconfigureCB(config, level); };
dsrv_->setCallback(cb);
}
ObstacleLayer::~ObstacleLayer()
{
if (dsrv_)
delete dsrv_;
}
void ObstacleLayer::reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level)
{
enabled_ = config.enabled;
footprint_clearing_enabled_ = config.footprint_clearing_enabled;
max_obstacle_height_ = config.max_obstacle_height;
combination_method_ = config.combination_method;
}
void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// project the laser into a point cloud
sensor_msgs::PointCloud2 cloud;
cloud.header = message->header;
// project the scan into a point cloud
try
{
projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, *tf_);
}
catch (tf2::TransformException &ex)
{
ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s", global_frame_.c_str(),
ex.what());
projector_.projectLaser(*message, cloud);
}
catch (std::runtime_error &ex)
{
ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what());
return; //ignore this message
}
// buffer the point cloud
buffer->lock();
buffer->bufferCloud(cloud);
buffer->unlock();
}
void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& raw_message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// Filter positive infinities ("Inf"s) to max_range.
float epsilon = 0.0001; // a tenth of a millimeter
sensor_msgs::LaserScan message = *raw_message;
for (size_t i = 0; i < message.ranges.size(); i++)
{
float range = message.ranges[ i ];
if (!std::isfinite(range) && range > 0)
{
message.ranges[ i ] = message.range_max - epsilon;
}
}
// project the laser into a point cloud
sensor_msgs::PointCloud2 cloud;
cloud.header = message.header;
// project the scan into a point cloud
try
{
projector_.transformLaserScanToPointCloud(message.header.frame_id, message, cloud, *tf_);
}
catch (tf2::TransformException &ex)
{
ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s",
global_frame_.c_str(), ex.what());
projector_.projectLaser(message, cloud);
}
catch (std::runtime_error &ex)
{
ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what());
return; //ignore this message
}
// buffer the point cloud
buffer->lock();
buffer->bufferCloud(cloud);
buffer->unlock();
}
void ObstacleLayer::pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
sensor_msgs::PointCloud2 cloud2;
if (!sensor_msgs::convertPointCloudToPointCloud2(*message, cloud2))
{
ROS_ERROR("Failed to convert a PointCloud to a PointCloud2, dropping message");
return;
}
// buffer the point cloud
buffer->lock();
buffer->bufferCloud(cloud2);
buffer->unlock();
}
void ObstacleLayer::pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer)
{
// buffer the point cloud
buffer->lock();
buffer->bufferCloud(*message);
buffer->unlock();
}
void ObstacleLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
double* min_y, double* max_x, double* max_y)
{
if (rolling_window_)
updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2);
useExtraBounds(min_x, min_y, max_x, max_y);
bool current = true;
std::vector<Observation> observations, clearing_observations;
// get the marking observations
current = current && getMarkingObservations(observations);
// get the clearing observations
current = current && getClearingObservations(clearing_observations);
// update the global current status
current_ = current;
// raytrace freespace
for (unsigned int i = 0; i < clearing_observations.size(); ++i)
{
raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y);
}
// place the new obstacles into a priority queue... each with a priority of zero to begin with
for (std::vector<Observation>::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<float> iter_x(cloud, "x");
sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud, "z");
for (; iter_x !=iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
{
double px = *iter_x, py = *iter_y, pz = *iter_z;
// if the obstacle is too high or too far away from the robot we won't add it
if (pz > max_obstacle_height_)
{
ROS_DEBUG("The point is too high");
continue;
}
// compute the squared distance from the hitpoint to the pointcloud's origin
double sq_dist = (px - obs.origin_.x) * (px - obs.origin_.x) + (py - obs.origin_.y) * (py - obs.origin_.y)
+ (pz - obs.origin_.z) * (pz - obs.origin_.z);
// if the point is far enough away... we won't consider it
if (sq_dist >= sq_obstacle_range)
{
ROS_DEBUG("The point is too far away");
continue;
}
// now we need to compute the map coordinates for the observation
unsigned int mx, my;
if (!worldToMap(px, py, mx, my))
{
ROS_DEBUG("Computing map coords failed");
continue;
}
unsigned int index = getIndex(mx, my);
costmap_[index] = LETHAL_OBSTACLE;
touch(px, py, min_x, min_y, max_x, max_y);
}
}
updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
}
void ObstacleLayer::updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
double* max_x, double* max_y)
{
if (!footprint_clearing_enabled_) return;
transformFootprint(robot_x, robot_y, robot_yaw, getFootprint(), transformed_footprint_);
for (unsigned int i = 0; i < transformed_footprint_.size(); i++)
{
touch(transformed_footprint_[i].x, transformed_footprint_[i].y, min_x, min_y, max_x, max_y);
}
}
void ObstacleLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (footprint_clearing_enabled_)
{
setConvexPolygonCost(transformed_footprint_, costmap_2d::FREE_SPACE);
}
switch (combination_method_)
{
case 0: // Overwrite
updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
break;
case 1: // Maximum
updateWithMax(master_grid, min_i, min_j, max_i, max_j);
break;
default: // Nothing
break;
}
}
void ObstacleLayer::addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing)
{
if (marking)
static_marking_observations_.push_back(obs);
if (clearing)
static_clearing_observations_.push_back(obs);
}
void ObstacleLayer::clearStaticObservations(bool marking, bool clearing)
{
if (marking)
static_marking_observations_.clear();
if (clearing)
static_clearing_observations_.clear();
}
bool ObstacleLayer::getMarkingObservations(std::vector<Observation>& 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<Observation>& clearing_observations) const
{
bool current = true;
// get the clearing observations
for (unsigned int i = 0; i < clearing_buffers_.size(); ++i)
{
clearing_buffers_[i]->lock();
clearing_buffers_[i]->getObservations(clearing_observations);
current = clearing_buffers_[i]->isCurrent() && current;
clearing_buffers_[i]->unlock();
}
clearing_observations.insert(clearing_observations.end(),
static_clearing_observations_.begin(), static_clearing_observations_.end());
return current;
}
void ObstacleLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y,
double* max_x, double* max_y)
{
double ox = clearing_observation.origin_.x;
double oy = clearing_observation.origin_.y;
const sensor_msgs::PointCloud2 &cloud = *(clearing_observation.cloud_);
// get the map coordinates of the origin of the sensor
unsigned int x0, y0;
if (!worldToMap(ox, oy, x0, y0))
{
ROS_WARN_THROTTLE(
1.0, "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.",
ox, oy);
return;
}
// we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
double origin_x = origin_x_, origin_y = origin_y_;
double map_end_x = origin_x + size_x_ * resolution_;
double map_end_y = origin_y + size_y_ * resolution_;
touch(ox, oy, min_x, min_y, max_x, max_y);
// for each point in the cloud, we want to trace a line from the origin and clear obstacles along it
sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
for (; iter_x != iter_x.end(); ++iter_x, ++iter_y)
{
double wx = *iter_x;
double wy = *iter_y;
// now we also need to make sure that the enpoint we're raytracing
// to isn't off the costmap and scale if necessary
double a = wx - ox;
double b = wy - oy;
// the minimum value to raytrace from is the origin
if (wx < origin_x)
{
double t = (origin_x - ox) / a;
wx = origin_x;
wy = oy + b * t;
}
if (wy < origin_y)
{
double t = (origin_y - oy) / b;
wx = ox + a * t;
wy = origin_y;
}
// the maximum value to raytrace to is the end of the map
if (wx > map_end_x)
{
double t = (map_end_x - ox) / a;
wx = map_end_x - .001;
wy = oy + b * t;
}
if (wy > map_end_y)
{
double t = (map_end_y - oy) / b;
wx = ox + a * t;
wy = map_end_y - .001;
}
// now that the vector is scaled correctly... we'll get the map coordinates of its endpoint
unsigned int x1, y1;
// check for legality just in case
if (!worldToMap(wx, wy, x1, y1))
continue;
unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
MarkCell marker(costmap_, FREE_SPACE);
// and finally... we can execute our trace to clear obstacles along that line
raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range);
updateRaytraceBounds(ox, oy, wx, wy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
}
}
void ObstacleLayer::activate()
{
// if we're stopped we need to re-subscribe to topics
for (unsigned int i = 0; i < observation_subscribers_.size(); ++i)
{
if (observation_subscribers_[i] != NULL)
observation_subscribers_[i]->subscribe();
}
for (unsigned int i = 0; i < observation_buffers_.size(); ++i)
{
if (observation_buffers_[i])
observation_buffers_[i]->resetLastUpdated();
}
}
void ObstacleLayer::deactivate()
{
for (unsigned int i = 0; i < observation_subscribers_.size(); ++i)
{
if (observation_subscribers_[i] != NULL)
observation_subscribers_[i]->unsubscribe();
}
}
void ObstacleLayer::updateRaytraceBounds(double ox, double oy, double wx, double wy, double range,
double* min_x, double* min_y, double* max_x, double* max_y)
{
double dx = wx-ox, dy = wy-oy;
double full_distance = hypot(dx, dy);
double scale = std::min(1.0, range / full_distance);
double ex = ox + dx * scale, ey = oy + dy * scale;
touch(ex, ey, min_x, min_y, max_x, max_y);
}
void ObstacleLayer::reset()
{
deactivate();
resetMaps();
current_ = true;
activate();
}
} // namespace costmap_2d

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#include <costmap_2d/preferred_layer.h>
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(costmap_2d::PreferredLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::FREE_SPACE;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::PREFERRED_SPACE;
namespace costmap_2d
{
PreferredLayer::PreferredLayer(){}
PreferredLayer::~PreferredLayer(){}
unsigned char PreferredLayer::interpretValue(unsigned char value)
{
// check if the static value is above the unknown or lethal thresholds
if(value == 0) return NO_INFORMATION;
else if (value >= *this->threshold_)
return PREFERRED_SPACE;
double scale = (double) value / *this->threshold_;
return scale * LETHAL_OBSTACLE;
}
}

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* Copyright (c) 2015, Fetch Robotics, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/static_layer.h>
#include <costmap_2d/costmap_math.h>
#include <pluginlib/class_list_macros.hpp>
#include <tf2/convert.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
namespace costmap_2d
{
StaticLayer::StaticLayer() : dsrv_(NULL)
{
threshold_ = &lethal_threshold_;
}
StaticLayer::~StaticLayer()
{
if (dsrv_)
delete dsrv_;
}
void StaticLayer::onInitialize()
{
ros::NodeHandle nh("~/" + name_), g_nh;
current_ = true;
global_frame_ = layered_costmap_->getGlobalFrameID();
nh.param("map_topic", map_topic_, std::string("map"));
nh.param("first_map_only", first_map_only_, false);
nh.param("subscribe_to_updates", subscribe_to_updates_, false);
nh.param("track_unknown_space", track_unknown_space_, true);
nh.param("use_maximum", use_maximum_, false);
int temp_lethal_threshold, temp_unknown_cost_value;
nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
nh.param("trinary_costmap", trinary_costmap_, true);
nh.param("base_frame_id", base_frame_id_, std::string("base_footprint"));
// ROS_WARN("global_frame_[%s] map_frame_[%s] map_topic[%s] first_map_only[%d] subscribe_to_updates[%d] track_unknown_space[%d] use_maximum[%d] \n lethal_cost_threshold[%d] unknown_cost_value[%d] trinary_costmap[%d]",
// global_frame_.c_str(), map_frame_.c_str(),map_topic_.c_str(), first_map_only_, subscribe_to_updates_, track_unknown_space_, use_maximum_, temp_lethal_threshold, temp_unknown_cost_value, trinary_costmap_);
lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
unknown_cost_value_ = temp_unknown_cost_value;
// Only resubscribe if topic has changed
if (map_sub_.getTopic() != ros::names::resolve(map_topic_))
{
// we'll subscribe to the latched topic that the map server uses
ROS_INFO("Requesting the map...");
map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this);
map_received_ = false;
has_updated_data_ = false;
ros::Rate r(10);
while (!map_received_ && g_nh.ok())
{
ros::spinOnce();
r.sleep();
}
ROS_INFO("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());
if (subscribe_to_updates_)
{
ROS_INFO("Subscribing to updates");
map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this);
}
}
else
{
has_updated_data_ = true;
}
if (dsrv_)
{
delete dsrv_;
}
dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb =
[this](auto& config, auto level){ reconfigureCB(config, level); };
dsrv_->setCallback(cb);
}
void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
{
if (config.enabled != enabled_)
{
enabled_ = config.enabled;
has_updated_data_ = true;
x_ = y_ = 0;
width_ = size_x_;
height_ = size_y_;
}
}
void StaticLayer::matchSize()
{
// If we are using rolling costmap, the static map size is
// unrelated to the size of the layered costmap
if (!layered_costmap_->isRolling())
{
Costmap2D* master = layered_costmap_->getCostmap();
resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
master->getOriginX(), master->getOriginY());
}
}
unsigned char StaticLayer::interpretValue(unsigned char value)
{
// check if the static value is above the unknown or lethal thresholds
if (track_unknown_space_ && value == unknown_cost_value_)
return NO_INFORMATION;
else if (!track_unknown_space_ && value == unknown_cost_value_)
return FREE_SPACE;
else if (value >= lethal_threshold_)
return LETHAL_OBSTACLE;
else if (trinary_costmap_)
return FREE_SPACE;
double scale = (double) value / lethal_threshold_;
return scale * LETHAL_OBSTACLE;
}
void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
{
unsigned int size_x = new_map->info.width, size_y = new_map->info.height;
ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x, size_y, new_map->info.resolution);
// resize costmap if size, resolution or origin do not match
Costmap2D* master = layered_costmap_->getCostmap();
if (!layered_costmap_->isRolling() &&
(master->getSizeInCellsX() != size_x ||
master->getSizeInCellsY() != size_y ||
master->getResolution() != new_map->info.resolution ||
master->getOriginX() != new_map->info.origin.position.x ||
master->getOriginY() != new_map->info.origin.position.y))
{
// Update the size of the layered costmap (and all layers, including this one)
ROS_INFO("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution);
layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution, new_map->info.origin.position.x,
new_map->info.origin.position.y,
true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
}
else if (size_x_ != size_x || size_y_ != size_y ||
resolution_ != new_map->info.resolution ||
origin_x_ != new_map->info.origin.position.x ||
origin_y_ != new_map->info.origin.position.y)
{
// only update the size of the costmap stored locally in this layer
ROS_INFO("Resizing static layer to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution);
resizeMap(size_x, size_y, new_map->info.resolution,
new_map->info.origin.position.x, new_map->info.origin.position.y);
}
unsigned int index = 0;
// initialize the costmap with static data
for (unsigned int i = 0; i < size_y; ++i)
{
for (unsigned int j = 0; j < size_x; ++j)
{
unsigned char value = new_map->data[index];
costmap_[index] = interpretValue(value);
++index;
}
}
map_frame_ = new_map->header.frame_id;
// we have a new map, update full size of map
x_ = y_ = 0;
width_ = size_x_;
height_ = size_y_;
map_received_ = true;
has_updated_data_ = true;
// shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_)
{
ROS_INFO("Shutting down the map subscriber. first_map_only flag is on");
map_sub_.shutdown();
}
}
void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update)
{
unsigned int di = 0;
for (unsigned int y = 0; y < update->height ; y++)
{
unsigned int index_base = (update->y + y) * size_x_;
for (unsigned int x = 0; x < update->width ; x++)
{
unsigned int index = index_base + x + update->x;
costmap_[index] = interpretValue(update->data[di++]);
}
}
x_ = update->x;
y_ = update->y;
width_ = update->width;
height_ = update->height;
has_updated_data_ = true;
}
void StaticLayer::activate()
{
onInitialize();
}
void StaticLayer::deactivate()
{
map_sub_.shutdown();
if (subscribe_to_updates_)
map_update_sub_.shutdown();
}
void StaticLayer::reset()
{
if (first_map_only_)
{
has_updated_data_ = true;
}
else
{
onInitialize();
}
}
void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
double* max_x, double* max_y)
{
if( !layered_costmap_->isRolling() ){
if (!map_received_ || !(has_updated_data_ || has_extra_bounds_))
return;
}
useExtraBounds(min_x, min_y, max_x, max_y);
double wx, wy;
mapToWorld(x_, y_, wx, wy);
*min_x = std::min(wx, *min_x);
*min_y = std::min(wy, *min_y);
mapToWorld(x_ + width_, y_ + height_, wx, wy);
*max_x = std::max(wx, *max_x);
*max_y = std::max(wy, *max_y);
has_updated_data_ = false;
}
void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!map_received_)
return;
if (!layered_costmap_->isRolling())
{
// if not rolling, the layered costmap (master_grid) has same coordinates as this layer
if (!use_maximum_)
updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
else
updateWithMax(master_grid, min_i, min_j, max_i, max_j);
}
else
{
// If rolling window, the master_grid is unlikely to have same coordinates as this layer
unsigned int mx, my;
double wx, wy;
// Might even be in a different frame
geometry_msgs::TransformStamped transform;
try
{
transform = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0));
}
catch (tf2::TransformException ex)
{
ROS_ERROR("%s", ex.what());
return;
}
// Copy map data given proper transformations
tf2::Transform tf2_transform;
tf2::convert(transform.transform, tf2_transform);
for (unsigned int i = min_i; i < max_i; ++i)
{
for (unsigned int j = min_j; j < max_j; ++j)
{
// Convert master_grid coordinates (i,j) into global_frame_(wx,wy) coordinates
layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy);
// Transform from global_frame_ to map_frame_
tf2::Vector3 p(wx, wy, 0);
p = tf2_transform*p;
// Set master_grid with cell from map
if (worldToMap(p.x(), p.y(), mx, my))
{
if (!use_maximum_)
master_grid.setCost(i, j, getCost(mx, my));
else
master_grid.setCost(i, j, std::max(getCost(mx, my), master_grid.getCost(i, j)));
}
}
}
}
}
} // namespace costmap_2d

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#include <costmap_2d/unpreferred_layer.h>
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(costmap_2d::UnPreferredLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::PREFERRED_SPACE;
namespace costmap_2d
{
UnPreferredLayer::UnPreferredLayer(){}
UnPreferredLayer::~UnPreferredLayer(){}
unsigned char UnPreferredLayer::interpretValue(unsigned char value)
{
// check if the static value is above the unknown or lethal thresholds
if(value == 0) return NO_INFORMATION;
else if (value >= *this->threshold_)
return UNPREFERRED_SPACE;
double scale = (double) value / *this->threshold_;
return scale * LETHAL_OBSTACLE;
}
}

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/voxel_layer.h>
#include <pluginlib/class_list_macros.hpp>
#include <sensor_msgs/point_cloud2_iterator.h>
#define VOXEL_BITS 16
PLUGINLIB_EXPORT_CLASS(costmap_2d::VoxelLayer, costmap_2d::Layer)
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
using costmap_2d::ObservationBuffer;
using costmap_2d::Observation;
namespace costmap_2d
{
void VoxelLayer::onInitialize()
{
ObstacleLayer::onInitialize();
ros::NodeHandle private_nh("~/" + name_);
private_nh.param("publish_voxel_map", publish_voxel_, false);
if (publish_voxel_)
voxel_pub_ = private_nh.advertise < costmap_2d::VoxelGrid > ("voxel_grid", 1);
clearing_endpoints_pub_ = private_nh.advertise<sensor_msgs::PointCloud>("clearing_endpoints", 1);
}
void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
{
voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::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<Observation> 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<Observation>::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<float> iter_x(cloud, "x");
sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
sensor_msgs::PointCloud2ConstIterator<float> 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<float> iter_x(*(clearing_observation.cloud_), "x");
sensor_msgs::PointCloud2ConstIterator<float> iter_y(*(clearing_observation.cloud_), "y");
sensor_msgs::PointCloud2ConstIterator<float> iter_z(*(clearing_observation.cloud_), "z");
for (;iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
{
double wpx = *iter_x;
double wpy = *iter_y;
double wpz = *iter_z;
double distance = dist(ox, oy, oz, wpx, wpy, wpz);
double scaling_fact = 1.0;
scaling_fact = std::max(std::min(scaling_fact, (distance - 2 * resolution_) / distance), 0.0);
wpx = scaling_fact * (wpx - ox) + ox;
wpy = scaling_fact * (wpy - oy) + oy;
wpz = scaling_fact * (wpz - oz) + oz;
double a = wpx - ox;
double b = wpy - oy;
double c = wpz - oz;
double t = 1.0;
// we can only raytrace to a maximum z height
if (wpz > max_obstacle_height_)
{
// we know we want the vector's z value to be max_z
t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c));
}
// and we can only raytrace down to the floor
else if (wpz < origin_z_)
{
// we know we want the vector's z value to be 0.0
t = std::min(t, (origin_z_ - oz) / c);
}
// the minimum value to raytrace from is the origin
if (wpx < origin_x_)
{
t = std::min(t, (origin_x_ - ox) / a);
}
if (wpy < origin_y_)
{
t = std::min(t, (origin_y_ - oy) / b);
}
// the maximum value to raytrace to is the end of the map
if (wpx > map_end_x)
{
t = std::min(t, (map_end_x - ox) / a);
}
if (wpy > map_end_y)
{
t = std::min(t, (map_end_y - oy) / b);
}
wpx = ox + a * t;
wpy = oy + b * t;
wpz = oz + c * t;
double point_x, point_y, point_z;
if (worldToMap3DFloat(wpx, wpy, wpz, point_x, point_y, point_z))
{
unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
// voxel_grid_.markVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z);
voxel_grid_.clearVoxelLineInMap(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z, costmap_,
unknown_threshold_, mark_threshold_, FREE_SPACE, NO_INFORMATION,
cell_raytrace_range);
updateRaytraceBounds(ox, oy, wpx, wpy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
if (publish_clearing_points)
{
geometry_msgs::Point32 point;
point.x = wpx;
point.y = wpy;
point.z = wpz;
clearing_endpoints_.points.push_back(point);
}
}
}
if (publish_clearing_points)
{
clearing_endpoints_.header.frame_id = global_frame_;
clearing_endpoints_.header.stamp = clearing_observation.cloud_->header.stamp;
clearing_endpoints_.header.seq = clearing_observation.cloud_->header.seq;
clearing_endpoints_pub_.publish(clearing_endpoints_);
}
}
void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y)
{
// project the new origin into the grid
int cell_ox, cell_oy;
cell_ox = int((new_origin_x - origin_x_) / resolution_);
cell_oy = int((new_origin_y - origin_y_) / resolution_);
// compute the associated world coordinates for the origin cell
// beacuase we want to keep things grid-aligned
double new_grid_ox, new_grid_oy;
new_grid_ox = origin_x_ + cell_ox * resolution_;
new_grid_oy = origin_y_ + cell_oy * resolution_;
// To save casting from unsigned int to int a bunch of times
int size_x = size_x_;
int size_y = size_y_;
// we need to compute the overlap of the new and existing windows
int lower_left_x, lower_left_y, upper_right_x, upper_right_y;
lower_left_x = std::min(std::max(cell_ox, 0), size_x);
lower_left_y = std::min(std::max(cell_oy, 0), size_y);
upper_right_x = std::min(std::max(cell_ox + size_x, 0), size_x);
upper_right_y = std::min(std::max(cell_oy + size_y, 0), size_y);
unsigned int cell_size_x = upper_right_x - lower_left_x;
unsigned int cell_size_y = upper_right_y - lower_left_y;
// we need a map to store the obstacles in the window temporarily
unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y];
unsigned int* local_voxel_map = new unsigned int[cell_size_x * cell_size_y];
unsigned int* voxel_map = voxel_grid_.getData();
// copy the local window in the costmap to the local map
copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y);
copyMapRegion(voxel_map, lower_left_x, lower_left_y, size_x_, local_voxel_map, 0, 0, cell_size_x, cell_size_x,
cell_size_y);
// we'll reset our maps to unknown space if appropriate
resetMaps();
// update the origin with the appropriate world coordinates
origin_x_ = new_grid_ox;
origin_y_ = new_grid_oy;
// compute the starting cell location for copying data back in
int start_x = lower_left_x - cell_ox;
int start_y = lower_left_y - cell_oy;
// now we want to copy the overlapping information back into the map, but in its new location
copyMapRegion(local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y);
copyMapRegion(local_voxel_map, 0, 0, cell_size_x, voxel_map, start_x, start_y, size_x_, cell_size_x, cell_size_y);
// make sure to clean up
delete[] local_map;
delete[] local_voxel_map;
}
} // namespace costmap_2d

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/*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* author: Dave Hershberger
*/
#include <cstdio> // for EOF
#include <string>
#include <sstream>
#include <vector>
namespace costmap_2d
{
/** @brief Parse a vector of vector of floats from a string.
* @param input
* @param error_return
* Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] */
std::vector<std::vector<float> > parseVVF(const std::string& input, std::string& error_return)
{
std::vector<std::vector<float> > result;
std::stringstream input_ss(input);
int depth = 0;
std::vector<float> current_vector;
while (!!input_ss && !input_ss.eof())
{
switch (input_ss.peek())
{
case EOF:
break;
case '[':
depth++;
if (depth > 2)
{
error_return = "Array depth greater than 2";
return result;
}
input_ss.get();
current_vector.clear();
break;
case ']':
depth--;
if (depth < 0)
{
error_return = "More close ] than open [";
return result;
}
input_ss.get();
if (depth == 1)
{
result.push_back(current_vector);
}
break;
case ',':
case ' ':
case '\t':
input_ss.get();
break;
default: // All other characters should be part of the numbers.
if (depth != 2)
{
std::stringstream err_ss;
err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'.";
error_return = err_ss.str();
return result;
}
float value;
input_ss >> value;
if (!!input_ss)
{
current_vector.push_back(value);
}
break;
}
}
if (depth != 0)
{
error_return = "Unterminated vector string.";
}
else
{
error_return = "";
}
return result;
}
} // end namespace costmap_2d

496
src/costmap_2d.cpp
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@ -1,71 +1,445 @@
#include <costmap_2d/costmap_2d.h> /*********************************************************************
#include <cstdio> * License & Authors
* - Cung cấp lớp Costmap2D để lưu trữ bản đồ chi phí 2D
*********************************************************************/
#include <costmap_2d/costmap_2d.h> // Header định nghĩa lớp Costmap2D
#include <cstdio> // Dùng cho thao tác file (fopen, fprintf, ...)
using namespace std; using namespace std;
namespace costmap_2d namespace costmap_2d
{ {
Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
double origin_x, double origin_y, unsigned char default_value) : /*****************************************************
* Hàm khởi tạo chính của Costmap2D
* - Tạo bản đồ kích thước size_x × size_y
* - Gán độ phân giải, gốc tọa độ, và giá trị mặc định
*****************************************************/
Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
double origin_x, double origin_y, unsigned char default_value) :
size_x_(cells_size_x), size_y_(cells_size_y), resolution_(resolution), origin_x_(origin_x), size_x_(cells_size_x), size_y_(cells_size_y), resolution_(resolution), origin_x_(origin_x),
origin_y_(origin_y), costmap_(NULL), default_value_(default_value) origin_y_(origin_y), costmap_(NULL), default_value_(default_value)
{ {
access_ = new mutex_t(); access_ = new mutex_t(); // Khóa bảo vệ truy cập đa luồng
// create the costmap // Cấp phát vùng nhớ cho bản đồ
initMaps(size_x_, size_y_); initMaps(size_x_, size_y_);
resetMaps();
}
void Costmap2D::deleteMaps()
{
// clean up data
boost::unique_lock<mutex_t> lock(*access_);
delete[] costmap_;
costmap_ = NULL;
}
void Costmap2D::initMaps(unsigned int size_x, unsigned int size_y)
{
boost::unique_lock<mutex_t> lock(*access_);
delete[] costmap_;
costmap_ = new unsigned char[size_x * size_y];
}
unsigned char Costmap2D::getCost(unsigned int mx, unsigned int my) const
{
return costmap_[getIndex(mx, my)];
}
void Costmap2D::setCost(unsigned int mx, unsigned int my, unsigned char cost)
{
costmap_[getIndex(mx, my)] = cost;
}
void Costmap2D::mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const
{
wx = origin_x_ + (mx + 0.5) * resolution_;
wy = origin_y_ + (my + 0.5) * resolution_;
}
bool Costmap2D::worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const
{
if (wx < origin_x_ || wy < origin_y_)
return false;
mx = (int)((wx - origin_x_) / resolution_);
my = (int)((wy - origin_y_) / resolution_);
if (mx < size_x_ && my < size_y_)
return true;
return false;
}
void Costmap2D::worldToMapNoBounds(double wx, double wy, int& mx, int& my) const
{
mx = (int)((wx - origin_x_) / resolution_);
my = (int)((wy - origin_y_) / resolution_);
}
// Gán toàn bộ bản đồ bằng giá trị mặc định (ví dụ: NO_INFORMATION)
resetMaps();
} }
/*****************************************************
* Xóa bộ nhớ costmap_
*****************************************************/
void Costmap2D::deleteMaps()
{
boost::unique_lock<mutex_t> lock(*access_); // Giữ mutex để đảm bảo thread-safe
delete[] costmap_; // Giải phóng vùng nhớ
costmap_ = NULL;
}
/*****************************************************
* Cấp phát vùng nhớ cho costmap_
*****************************************************/
void Costmap2D::initMaps(unsigned int size_x, unsigned int size_y)
{
boost::unique_lock<mutex_t> lock(*access_);
delete[] costmap_; // Xóa vùng nhớ cũ nếu có
costmap_ = new unsigned char[size_x * size_y]; // Mỗi ô lưu 1 byte (0–255)
}
/*****************************************************
* Thay đổi kích thước bản đồ
* - Thường dùng khi tạo lại bản đồ mới hoặc khi map động
*****************************************************/
void Costmap2D::resizeMap(unsigned int size_x, unsigned int size_y, double resolution,
double origin_x, double origin_y)
{
size_x_ = size_x;
size_y_ = size_y;
resolution_ = resolution;
origin_x_ = origin_x;
origin_y_ = origin_y;
initMaps(size_x, size_y); // Cấp phát vùng nhớ mới
resetMaps(); // Reset toàn bộ dữ liệu
}
/*****************************************************
* Reset toàn bộ bản đồ về giá trị mặc định
*****************************************************/
void Costmap2D::resetMaps()
{
boost::unique_lock<mutex_t> lock(*access_);
memset(costmap_, default_value_, size_x_ * size_y_ * sizeof(unsigned char));
}
/*****************************************************
* Reset một vùng con trong costmap
*****************************************************/
void Costmap2D::resetMap(unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)
{
boost::unique_lock<mutex_t> lock(*(access_));
unsigned int len = xn - x0;
for (unsigned int y = y0 * size_x_ + x0; y < yn * size_x_ + x0; y += size_x_)
memset(costmap_ + y, default_value_, len * sizeof(unsigned char));
}
/*****************************************************
* Tạo bản đồ mới chỉ bao gồm 1 cửa sổ (window) con của map hiện tại
*****************************************************/
bool Costmap2D::copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y,
double win_size_x, double win_size_y)
{
// Không thể tạo window của chính mình
if (this == &map)
return false;
deleteMaps(); // Xóa dữ liệu cũ
// Chuyển đổi tọa độ thế giới sang tọa độ lưới
unsigned int lower_left_x, lower_left_y, upper_right_x, upper_right_y;
if (!map.worldToMap(win_origin_x, win_origin_y, lower_left_x, lower_left_y)
|| !map.worldToMap(win_origin_x + win_size_x, win_origin_y + win_size_y, upper_right_x, upper_right_y))
return false;
// Tính kích thước vùng con
size_x_ = upper_right_x - lower_left_x;
size_y_ = upper_right_y - lower_left_y;
resolution_ = map.resolution_;
origin_x_ = win_origin_x;
origin_y_ = win_origin_y;
initMaps(size_x_, size_y_); // Cấp phát bộ nhớ mới
// Sao chép dữ liệu vùng con từ bản đồ gốc
copyMapRegion(map.costmap_, lower_left_x, lower_left_y, map.size_x_,
costmap_, 0, 0, size_x_, size_x_, size_y_);
return true;
}
/*****************************************************
* Toán tử gán (=): sao chép toàn bộ dữ liệu từ map khác
*****************************************************/
Costmap2D& Costmap2D::operator=(const Costmap2D& map)
{
if (this == &map)
return *this;
deleteMaps(); // Xóa map cũ
size_x_ = map.size_x_;
size_y_ = map.size_y_;
resolution_ = map.resolution_;
origin_x_ = map.origin_x_;
origin_y_ = map.origin_y_;
initMaps(size_x_, size_y_); // Tạo map mới
memcpy(costmap_, map.costmap_, size_x_ * size_y_ * sizeof(unsigned char)); // Sao chép dữ liệu
return *this;
}
/*****************************************************
* Constructor sao chép
*****************************************************/
Costmap2D::Costmap2D(const Costmap2D& map) : costmap_(NULL)
{
access_ = new mutex_t();
*this = map; // Gọi lại toán tử gán
}
/*****************************************************
* Constructor mặc định (chưa có bản đồ)
*****************************************************/
Costmap2D::Costmap2D() :
size_x_(0), size_y_(0), resolution_(0.0),
origin_x_(0.0), origin_y_(0.0), costmap_(NULL)
{
access_ = new mutex_t();
}
/*****************************************************
* Destructor: giải phóng bộ nhớ
*****************************************************/
Costmap2D::~Costmap2D()
{
deleteMaps();
delete access_;
}
/*****************************************************
* Chuyển khoảng cách thực (mét) sang đơn vị ô
*****************************************************/
unsigned int Costmap2D::cellDistance(double world_dist)
{
double cells_dist = max(0.0, ceil(world_dist / resolution_));
return (unsigned int)cells_dist;
}
/*****************************************************
* Trả về con trỏ dữ liệu costmap
*****************************************************/
unsigned char* Costmap2D::getCharMap() const
{
return costmap_;
}
/*****************************************************
* Lấy giá trị cost tại ô (mx, my)
*****************************************************/
unsigned char Costmap2D::getCost(unsigned int mx, unsigned int my) const
{
return costmap_[getIndex(mx, my)];
}
/*****************************************************
* Gán giá trị cost tại ô (mx, my)
*****************************************************/
void Costmap2D::setCost(unsigned int mx, unsigned int my, unsigned char cost)
{
costmap_[getIndex(mx, my)] = cost;
}
/*****************************************************
* Chuyển từ tọa độ lưới (ô) sang tọa độ thế giới
*****************************************************/
void Costmap2D::mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const
{
wx = origin_x_ + (mx + 0.5) * resolution_;
wy = origin_y_ + (my + 0.5) * resolution_;
}
/*****************************************************
* Chuyển từ tọa độ thế giới sang tọa độ lưới
*****************************************************/
bool Costmap2D::worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const
{
if (wx < origin_x_ || wy < origin_y_)
return false;
mx = (int)((wx - origin_x_) / resolution_);
my = (int)((wy - origin_y_) / resolution_);
return (mx < size_x_ && my < size_y_);
}
/*****************************************************
* Phiên bản không kiểm tra biên (có thể ra ngoài map)
*****************************************************/
void Costmap2D::worldToMapNoBounds(double wx, double wy, int& mx, int& my) const
{
mx = (int)((wx - origin_x_) / resolution_);
my = (int)((wy - origin_y_) / resolution_);
}
/*****************************************************
* Phiên bản ép buộc tọa độ nằm trong biên bản đồ
*****************************************************/
void Costmap2D::worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const
{
if (wx < origin_x_)
mx = 0;
else if (wx >= resolution_ * size_x_ + origin_x_)
mx = size_x_ - 1;
else
mx = (int)((wx - origin_x_) / resolution_);
if (wy < origin_y_)
my = 0;
else if (wy >= resolution_ * size_y_ + origin_y_)
my = size_y_ - 1;
else
my = (int)((wy - origin_y_) / resolution_);
}
/*****************************************************
* Dịch chuyển gốc của bản đồ khi robot di chuyển
* => Dữ liệu được dịch và giữ lại phần chồng lấn
*****************************************************/
void Costmap2D::updateOrigin(double new_origin_x, double new_origin_y)
{
int cell_ox = int((new_origin_x - origin_x_) / resolution_);
int cell_oy = int((new_origin_y - origin_y_) / resolution_);
if (cell_ox == 0 && cell_oy == 0)
return;
// Cập nhật lại gốc bản đồ mới (theo bội số của resolution)
double new_grid_ox = origin_x_ + cell_ox * resolution_;
double new_grid_oy = origin_y_ + cell_oy * resolution_;
int size_x = size_x_;
int size_y = size_y_;
// Tính vùng chồng lấn giữa bản đồ cũ và bản đồ mới
int lower_left_x = min(max(cell_ox, 0), size_x);
int lower_left_y = min(max(cell_oy, 0), size_y);
int upper_right_x = min(max(cell_ox + size_x, 0), size_x);
int upper_right_y = min(max(cell_oy + size_y, 0), size_y);
unsigned int cell_size_x = upper_right_x - lower_left_x;
unsigned int cell_size_y = upper_right_y - lower_left_y;
// Tạo bản đồ tạm để lưu phần chồng lấn
unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y];
copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_,
local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y);
resetMaps(); // Toàn bộ bản đồ được đặt lại giá trị mặc định
origin_x_ = new_grid_ox;
origin_y_ = new_grid_oy;
// Copy vùng chồng lấn vào vị trí mới
int start_x = lower_left_x - cell_ox;
int start_y = lower_left_y - cell_oy;
copyMapRegion(local_map, 0, 0, cell_size_x,
costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y);
delete[] local_map; // Giải phóng vùng nhớ tạm
}
/*****************************************************
* Đặt giá trị cost cho vùng đa giác lồi
* (ví dụ: để đánh dấu vùng cấm hoặc vùng obstacle)
*****************************************************/
bool Costmap2D::setConvexPolygonCost(const std::vector<Point>& polygon, unsigned char cost_value)
{
std::vector<MapLocation> map_polygon;
for (unsigned int i = 0; i < polygon.size(); ++i)
{
MapLocation loc;
if (!worldToMap(polygon[i].x, polygon[i].y, loc.x, loc.y))
return false; // Nếu một điểm nằm ngoài map
map_polygon.push_back(loc);
}
std::vector<MapLocation> polygon_cells;
convexFillCells(map_polygon, polygon_cells); // Lấy toàn bộ ô bên trong đa giác
for (unsigned int i = 0; i < polygon_cells.size(); ++i)
costmap_[getIndex(polygon_cells[i].x, polygon_cells[i].y)] = cost_value;
return true;
}
/*****************************************************
* polygonOutlineCells():
* - Tìm các ô nằm trên biên của đa giác
*****************************************************/
void Costmap2D::polygonOutlineCells(const std::vector<MapLocation>& polygon,
std::vector<MapLocation>& polygon_cells)
{
PolygonOutlineCells cell_gatherer(*this, costmap_, polygon_cells);
for (unsigned int i = 0; i < polygon.size() - 1; ++i)
raytraceLine(cell_gatherer, polygon[i].x, polygon[i].y, polygon[i + 1].x, polygon[i + 1].y);
if (!polygon.empty())
{
unsigned int last_index = polygon.size() - 1;
// Nối điểm cuối với điểm đầu để khép kín đa giác
raytraceLine(cell_gatherer, polygon[last_index].x, polygon[last_index].y,
polygon[0].x, polygon[0].y);
}
}
/*****************************************************
* convexFillCells():
* - Điền đầy các ô bên trong một đa giác lồi
*****************************************************/
void Costmap2D::convexFillCells(const std::vector<MapLocation>& polygon,
std::vector<MapLocation>& polygon_cells)
{
if (polygon.size() < 3) // Ít hơn 3 điểm thì không tạo thành đa giác
return;
polygonOutlineCells(polygon, polygon_cells); // Lấy biên ngoài
// Sắp xếp theo trục X để dễ quét cột
MapLocation swap;
unsigned int i = 0;
while (i < polygon_cells.size() - 1)
{
if (polygon_cells[i].x > polygon_cells[i + 1].x)
{
swap = polygon_cells[i];
polygon_cells[i] = polygon_cells[i + 1];
polygon_cells[i + 1] = swap;
if (i > 0) --i;
}
else ++i;
}
// Quét từng cột X để điền đầy Y
i = 0;
MapLocation min_pt, max_pt;
unsigned int min_x = polygon_cells[0].x;
unsigned int max_x = polygon_cells.back().x;
for (unsigned int x = min_x; x <= max_x; ++x)
{
if (i >= polygon_cells.size() - 1) break;
if (polygon_cells[i].y < polygon_cells[i + 1].y)
{
min_pt = polygon_cells[i];
max_pt = polygon_cells[i + 1];
}
else
{
min_pt = polygon_cells[i + 1];
max_pt = polygon_cells[i];
}
i += 2;
while (i < polygon_cells.size() && polygon_cells[i].x == x)
{
if (polygon_cells[i].y < min_pt.y)
min_pt = polygon_cells[i];
else if (polygon_cells[i].y > max_pt.y)
max_pt = polygon_cells[i];
++i;
}
// Điền đầy ô từ min_y đến max_y
for (unsigned int y = min_pt.y; y <= max_pt.y; ++y)
polygon_cells.push_back({x, y});
}
}
/*****************************************************
* Các hàm getter cơ bản
*****************************************************/
unsigned int Costmap2D::getSizeInCellsX() const { return size_x_; }
unsigned int Costmap2D::getSizeInCellsY() const { return size_y_; }
double Costmap2D::getSizeInMetersX() const { return (size_x_ - 1 + 0.5) * resolution_; }
double Costmap2D::getSizeInMetersY() const { return (size_y_ - 1 + 0.5) * resolution_; }
double Costmap2D::getOriginX() const { return origin_x_; }
double Costmap2D::getOriginY() const { return origin_y_; }
double Costmap2D::getResolution() const { return resolution_; }
/*****************************************************
* Lưu costmap ra file PGM (grayscale) để debug
*****************************************************/
bool Costmap2D::saveMap(std::string file_name)
{
FILE *fp = fopen(file_name.c_str(), "w");
if (!fp)
return false;
fprintf(fp, "P2\n%u\n%u\n%u\n", size_x_, size_y_, 0xff);
for (unsigned int iy = 0; iy < size_y_; iy++)
{
for (unsigned int ix = 0; ix < size_x_; ix++)
fprintf(fp, "%d ", getCost(ix, iy));
fprintf(fp, "\n");
}
fclose(fp);
return true;
}
} // namespace costmap_2d

325
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@ -0,0 +1,325 @@
/*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include<costmap_2d/costmap_math.h>
#include <boost/tokenizer.hpp>
#include <boost/foreach.hpp>
#include <boost/algorithm/string.hpp>
#include <costmap_2d/footprint.h>
#include <costmap_2d/array_parser.h>
#include<costmap_2d/msg.h>
namespace costmap_2d
{
void calculateMinAndMaxDistances(const std::vector<Point>& footprint, double& min_dist, double& max_dist)
{
min_dist = std::numeric_limits<double>::max();
max_dist = 0.0;
if (footprint.size() <= 2)
{
return;
}
for (unsigned int i = 0; i < footprint.size() - 1; ++i)
{
// check the distance from the robot center point to the first vertex
double vertex_dist = distance(0.0, 0.0, footprint[i].x, footprint[i].y);
double edge_dist = distanceToLine(0.0, 0.0, footprint[i].x, footprint[i].y,
footprint[i + 1].x, footprint[i + 1].y);
min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist));
max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist));
}
// we also need to do the last vertex and the first vertex
double vertex_dist = distance(0.0, 0.0, footprint.back().x, footprint.back().y);
double edge_dist = distanceToLine(0.0, 0.0, footprint.back().x, footprint.back().y,
footprint.front().x, footprint.front().y);
min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist));
max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist));
}
Point32 toPoint32(Point pt)
{
Point32 point32;
point32.x = pt.x;
point32.y = pt.y;
point32.z = pt.z;
return point32;
}
Point toPoint(Point32 pt)
{
Point point;
point.x = pt.x;
point.y = pt.y;
point.z = pt.z;
return point;
}
Polygon toPolygon(std::vector<Point> pts)
{
Polygon polygon;
for (int i = 0; i < pts.size(); i++){
polygon.points.push_back(toPoint32(pts[i]));
}
return polygon;
}
std::vector<Point> toPointVector(Polygon polygon)
{
std::vector<Point> pts;
for (int i = 0; i < polygon.points.size(); i++)
{
pts.push_back(toPoint(polygon.points[i]));
}
return pts;
}
void transformFootprint(double x, double y, double theta, const std::vector<Point>& footprint_spec,
std::vector<Point>& oriented_footprint)
{
// build the oriented footprint at a given location
oriented_footprint.clear();
double cos_th = cos(theta);
double sin_th = sin(theta);
for (unsigned int i = 0; i < footprint_spec.size(); ++i)
{
Point new_pt;
new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th);
new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th);
oriented_footprint.push_back(new_pt);
}
}
void transformFootprint(double x, double y, double theta, const std::vector<Point>& footprint_spec,
PolygonStamped& oriented_footprint)
{
// build the oriented footprint at a given location
oriented_footprint.polygon.points.clear();
double cos_th = cos(theta);
double sin_th = sin(theta);
for (unsigned int i = 0; i < footprint_spec.size(); ++i)
{
Point32 new_pt;
new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th);
new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th);
oriented_footprint.polygon.points.push_back(new_pt);
}
}
void padFootprint(std::vector<Point>& footprint, double padding)
{
// pad footprint in place
for (unsigned int i = 0; i < footprint.size(); i++)
{
Point& pt = footprint[ i ];
pt.x += sign0(pt.x) * padding;
pt.y += sign0(pt.y) * padding;
}
}
std::vector<Point> makeFootprintFromRadius(double radius)
{
std::vector<Point> points;
// Loop over 16 angles around a circle making a point each time
int N = 16;
Point pt;
for (int i = 0; i < N; ++i)
{
double angle = i * 2 * M_PI / N;
pt.x = cos(angle) * radius;
pt.y = sin(angle) * radius;
points.push_back(pt);
}
return points;
}
bool makeFootprintFromString(const std::string& footprint_string, std::vector<Point>& footprint)
{
std::string error;
std::vector<std::vector<float> > vvf = parseVVF(footprint_string, error);
if (error != "")
{
std::printf("Error parsing footprint parameter: '%s'", error.c_str());
std::printf(" Footprint string was '%s'.", footprint_string.c_str());
return false;
}
// convert vvf into points.
if (vvf.size() < 3)
{
std::printf("You must specify at least three points for the robot footprint, reverting to previous footprint.");
return false;
}
footprint.reserve(vvf.size());
for (unsigned int i = 0; i < vvf.size(); i++)
{
if (vvf[ i ].size() == 2)
{
Point point;
point.x = vvf[ i ][ 0 ];
point.y = vvf[ i ][ 1 ];
point.z = 0;
footprint.push_back(point);
}
else
{
std::printf("Points in the footprint specification must be pairs of numbers. Found a point with %d numbers.",
int(vvf[ i ].size()));
return false;
}
}
return true;
}
// std::vector<Point> makeFootprintFromParams(ros::NodeHandle& nh)
// {
// std::string full_param_name;
// std::string full_radius_param_name;
// std::vector<Point> points;
// if (nh.searchParam("footprint", full_param_name))
// {
// XmlRpc::XmlRpcValue footprint_xmlrpc;
// nh.getParam(full_param_name, footprint_xmlrpc);
// if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeString &&
// footprint_xmlrpc != "" && footprint_xmlrpc != "[]")
// {
// if (makeFootprintFromString(std::string(footprint_xmlrpc), points))
// {
// writeFootprintToParam(nh, points);
// return points;
// }
// }
// else if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray)
// {
// points = makeFootprintFromXMLRPC(footprint_xmlrpc, full_param_name);
// writeFootprintToParam(nh, points);
// return points;
// }
// }
// if (nh.searchParam("robot_radius", full_radius_param_name))
// {
// double robot_radius;
// nh.param(full_radius_param_name, robot_radius, 1.234);
// points = makeFootprintFromRadius(robot_radius);
// nh.setParam("robot_radius", robot_radius);
// }
// // Else neither param was found anywhere this knows about, so
// // defaults will come from dynamic_reconfigure stuff, set in
// // cfg/Costmap2D.cfg and read in this file in reconfigureCB().
// return points;
// }
// void writeFootprintToParam(std::string& nh, const std::vector<Point>& footprint)
// {
// std::ostringstream oss;
// bool first = true;
// for (unsigned int i = 0; i < footprint.size(); i++)
// {
// Point p = footprint[ i ];
// if (first)
// {
// oss << "[[" << p.x << "," << p.y << "]";
// first = false;
// }
// else
// {
// oss << ",[" << p.x << "," << p.y << "]";
// }
// }
// oss << "]";
// nh.setParam("footprint", oss.str().c_str());
// }
// double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
// {
// // Make sure that the value we're looking at is either a double or an int.
// if (value.getType() != XmlRpc::XmlRpcValue::TypeInt &&
// value.getType() != XmlRpc::XmlRpcValue::TypeDouble)
// {
// std::string& value_string = value;
// std::printf("Values in the footprint specification (param %s) must be numbers. Found value %s.",
// full_param_name.c_str(), value_string.c_str());
// throw std::runtime_error("Values in the footprint specification must be numbers");
// }
// return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
// }
// std::vector<Point> makeFootprintFromXMLRPC(XmlRpcValue& footprint_xmlrpc,
// const std::string& full_param_name)
// {
// // Make sure we have an array of at least 3 elements.
// if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray ||
// footprint_xmlrpc.size() < 3)
// {
// std::printf("The footprint must be specified as list of lists on the parameter server, %s was specified as %s",
// full_param_name.c_str(), std::string(footprint_xmlrpc).c_str());
// throw std::runtime_error("The footprint must be specified as list of lists on the parameter server with at least "
// "3 points eg: [[x1, y1], [x2, y2], ..., [xn, yn]]");
// }
// std::vector<Point> footprint;
// Point pt;
// for (int i = 0; i < footprint_xmlrpc.size(); ++i)
// {
// // Make sure each element of the list is an array of size 2. (x and y coordinates)
// XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ];
// if (point.getType() != XmlRpc::XmlRpcValue::TypeArray ||
// point.size() != 2)
// {
// std::printf("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: "
// "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form.",
// full_param_name.c_str());
// throw std::runtime_error("The footprint must be specified as list of lists on the parameter server eg: "
// "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form");
// }
// pt.x = getNumberFromXMLRPC(point[ 0 ], full_param_name);
// pt.y = getNumberFromXMLRPC(point[ 1 ], full_param_name);
// footprint.push_back(pt);
// }
// return footprint;
// }
} // end namespace costmap_2d

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#include "costmap_2d/layer.h"
namespace costmap_2d
{
Layer::Layer()
: layered_costmap_(NULL)
, current_(false)
, enabled_(false)
, name_()
, tf_(NULL)
{}
void Layer::initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf)
{
layered_costmap_ = parent;
name_ = name;
tf_ = tf;
onInitialize();
}
const std::vector<Point>& Layer::getFootprint() const
{
return layered_costmap_->getFootprint();
}
} // end namespace costmap_2d

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#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/footprint.h>
#include <cstdio>
#include <string>
#include <algorithm>
#include <vector>
using std::vector;
namespace costmap_2d
{
LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown)
: costmap_(),
global_frame_(global_frame),
rolling_window_(rolling_window),
current_(false),
minx_(0.0),
miny_(0.0),
maxx_(0.0),
maxy_(0.0),
bx0_(0),
bxn_(0),
by0_(0),
byn_(0),
initialized_(false),
size_locked_(false),
circumscribed_radius_(1.0),
inscribed_radius_(0.1)
{
if (track_unknown)
costmap_.setDefaultValue(NO_INFORMATION);
else
costmap_.setDefaultValue(FREE_SPACE);
}
LayeredCostmap::~LayeredCostmap()
{
while (plugins_.size() > 0)
{
plugins_.pop_back();
}
}
void LayeredCostmap::resizeMap(unsigned int size_x, unsigned int size_y, double resolution, double origin_x,
double origin_y, bool size_locked)
{
boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
size_locked_ = size_locked;
costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y);
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->matchSize();
}
}
void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
{
// Lock for the remainder of this function, some plugins (e.g. VoxelLayer)
// implement thread unsafe updateBounds() functions.
boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
// if we're using a rolling buffer costmap... we need to update the origin using the robot's position
if (rolling_window_)
{
double new_origin_x = robot_x - costmap_.getSizeInMetersX() / 2;
double new_origin_y = robot_y - costmap_.getSizeInMetersY() / 2;
costmap_.updateOrigin(new_origin_x, new_origin_y);
}
if (plugins_.size() == 0)
return;
minx_ = miny_ = 1e30;
maxx_ = maxy_ = -1e30;
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if (!(*plugin)->isEnabled())
continue;
double prev_minx = minx_;
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy)
{
std::printf("Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
(*plugin)->getName().c_str());
}
}
int x0, xn, y0, yn;
costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0);
costmap_.worldToMapEnforceBounds(maxx_, maxy_, xn, yn);
x0 = std::max(0, x0);
xn = std::min(int(costmap_.getSizeInCellsX()), xn + 1);
y0 = std::max(0, y0);
yn = std::min(int(costmap_.getSizeInCellsY()), yn + 1);
std::printf("Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn);
if (xn < x0 || yn < y0)
return;
costmap_.resetMap(x0, y0, xn, yn);
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if ((*plugin)->isEnabled())
(*plugin)->updateCosts(costmap_, x0, y0, xn, yn);
}
bx0_ = x0;
bxn_ = xn;
by0_ = y0;
byn_ = yn;
initialized_ = true;
}
bool LayeredCostmap::isCurrent()
{
current_ = true;
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
if ((*plugin)->isEnabled())
current_ = current_ && (*plugin)->isCurrent();
}
return current_;
}
void LayeredCostmap::setFootprint(const std::vector<Point> &footprint_spec)
{
footprint_ = footprint_spec;
costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
(*plugin)->onFootprintChanged();
}
}
} // namespace costmap_2d

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#include <costmap_2d/observation_buffer.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
#include <sensor_msgs/point_cloud2_iterator.h>
using namespace std;
using namespace tf2;
namespace costmap_2d
{
ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_time, double expected_update_rate,
double min_obstacle_height, double max_obstacle_height, double obstacle_range,
double raytrace_range, tf2_ros::Buffer& tf2_buffer, string global_frame,
string sensor_frame, double tf_tolerance) :
tf2_buffer_(tf2_buffer), observation_keep_time_(observation_keep_time), expected_update_rate_(expected_update_rate),
last_updated_(ros::Time::now()), global_frame_(global_frame), sensor_frame_(sensor_frame), topic_name_(topic_name),
min_obstacle_height_(min_obstacle_height), max_obstacle_height_(max_obstacle_height),
obstacle_range_(obstacle_range), raytrace_range_(raytrace_range), tf_tolerance_(tf_tolerance)
{
}
ObservationBuffer::~ObservationBuffer()
{
}
bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
{
ros::Time transform_time = ros::Time::now();
std::string tf_error;
geometry_msgs::TransformStamped transformStamped;
if (!tf2_buffer_.canTransform(new_global_frame, global_frame_, transform_time, ros::Duration(tf_tolerance_), &tf_error))
{
ROS_ERROR("Transform between %s and %s with tolerance %.2f failed: %s.", new_global_frame.c_str(),
global_frame_.c_str(), tf_tolerance_, tf_error.c_str());
return false;
}
list<Observation>::iterator obs_it;
for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it)
{
try
{
Observation& obs = *obs_it;
geometry_msgs::PointStamped origin;
origin.header.frame_id = global_frame_;
origin.header.stamp = transform_time;
origin.point = obs.origin_;
// we need to transform the origin of the observation to the new global frame
tf2_buffer_.transform(origin, origin, new_global_frame);
obs.origin_ = origin.point;
// we also need to transform the cloud of the observation to the new global frame
tf2_buffer_.transform(*(obs.cloud_), *(obs.cloud_), new_global_frame);
}
catch (TransformException& ex)
{
ROS_ERROR("TF Error attempting to transform an observation from %s to %s: %s", global_frame_.c_str(),
new_global_frame.c_str(), ex.what());
return false;
}
}
// now we need to update our global_frame member
global_frame_ = new_global_frame;
return true;
}
void ObservationBuffer::bufferCloud(const sensor_msgs::PointCloud2& cloud)
{
geometry_msgs::PointStamped global_origin;
// create a new observation on the list to be populated
observation_list_.push_front(Observation());
// check whether the origin frame has been set explicitly or whether we should get it from the cloud
string origin_frame = sensor_frame_ == "" ? cloud.header.frame_id : sensor_frame_;
try
{
// given these observations come from sensors... we'll need to store the origin pt of the sensor
geometry_msgs::PointStamped local_origin;
local_origin.header.stamp = cloud.header.stamp;
local_origin.header.frame_id = origin_frame;
local_origin.point.x = 0;
local_origin.point.y = 0;
local_origin.point.z = 0;
tf2_buffer_.transform(local_origin, global_origin, global_frame_);
tf2::convert(global_origin.point, observation_list_.front().origin_);
// make sure to pass on the raytrace/obstacle range of the observation buffer to the observations
observation_list_.front().raytrace_range_ = raytrace_range_;
observation_list_.front().obstacle_range_ = obstacle_range_;
sensor_msgs::PointCloud2 global_frame_cloud;
// transform the point cloud
tf2_buffer_.transform(cloud, global_frame_cloud, global_frame_);
global_frame_cloud.header.stamp = cloud.header.stamp;
// now we need to remove observations from the cloud that are below or above our height thresholds
sensor_msgs::PointCloud2& observation_cloud = *(observation_list_.front().cloud_);
observation_cloud.height = global_frame_cloud.height;
observation_cloud.width = global_frame_cloud.width;
observation_cloud.fields = global_frame_cloud.fields;
observation_cloud.is_bigendian = global_frame_cloud.is_bigendian;
observation_cloud.point_step = global_frame_cloud.point_step;
observation_cloud.row_step = global_frame_cloud.row_step;
observation_cloud.is_dense = global_frame_cloud.is_dense;
unsigned int cloud_size = global_frame_cloud.height*global_frame_cloud.width;
sensor_msgs::PointCloud2Modifier modifier(observation_cloud);
modifier.resize(cloud_size);
unsigned int point_count = 0;
// copy over the points that are within our height bounds
sensor_msgs::PointCloud2Iterator<float> iter_z(global_frame_cloud, "z");
std::vector<unsigned char>::const_iterator iter_global = global_frame_cloud.data.begin(), iter_global_end = global_frame_cloud.data.end();
std::vector<unsigned char>::iterator iter_obs = observation_cloud.data.begin();
for (; iter_global != iter_global_end; ++iter_z, iter_global += global_frame_cloud.point_step)
{
if ((*iter_z) <= max_obstacle_height_
&& (*iter_z) >= min_obstacle_height_)
{
std::copy(iter_global, iter_global + global_frame_cloud.point_step, iter_obs);
iter_obs += global_frame_cloud.point_step;
++point_count;
}
}
// resize the cloud for the number of legal points
modifier.resize(point_count);
observation_cloud.header.stamp = cloud.header.stamp;
observation_cloud.header.frame_id = global_frame_cloud.header.frame_id;
}
catch (TransformException& ex)
{
// if an exception occurs, we need to remove the empty observation from the list
observation_list_.pop_front();
ROS_ERROR("TF Exception that should never happen for sensor frame: %s, cloud frame: %s, %s", sensor_frame_.c_str(),
cloud.header.frame_id.c_str(), ex.what());
return;
}
// if the update was successful, we want to update the last updated time
last_updated_ = ros::Time::now();
// we'll also remove any stale observations from the list
purgeStaleObservations();
}
// returns a copy of the observations
void ObservationBuffer::getObservations(vector<Observation>& observations)
{
// first... let's make sure that we don't have any stale observations
purgeStaleObservations();
// now we'll just copy the observations for the caller
list<Observation>::iterator obs_it;
for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it)
{
observations.push_back(*obs_it);
}
}
void ObservationBuffer::purgeStaleObservations()
{
if (!observation_list_.empty())
{
list<Observation>::iterator obs_it = observation_list_.begin();
// if we're keeping observations for no time... then we'll only keep one observation
if (observation_keep_time_ == ros::Duration(0.0))
{
observation_list_.erase(++obs_it, observation_list_.end());
return;
}
// otherwise... we'll have to loop through the observations to see which ones are stale
for (obs_it = observation_list_.begin(); obs_it != observation_list_.end(); ++obs_it)
{
Observation& obs = *obs_it;
// check if the observation is out of date... and if it is, remove it and those that follow from the list
if ((last_updated_ - obs.cloud_->header.stamp) > observation_keep_time_)
{
observation_list_.erase(obs_it, observation_list_.end());
return;
}
}
}
}
bool ObservationBuffer::isCurrent() const
{
if (expected_update_rate_ == ros::Duration(0.0))
return true;
bool current = (ros::Time::now() - last_updated_).toSec() <= expected_update_rate_.toSec();
if (!current)
{
ROS_WARN(
"The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.",
topic_name_.c_str(), (ros::Time::now() - last_updated_).toSec(), expected_update_rate_.toSec());
}
return current;
}
void ObservationBuffer::resetLastUpdated()
{
last_updated_ = ros::Time::now();
}
} // namespace costmap_2d