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duongtd 2025-10-24 17:26:44 +07:00
parent 6d86ad65a2
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)
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(Boost REQUIRED COMPONENTS system thread)
# Include directories
include_directories(
include
${EIGEN3_INCLUDE_DIR}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
/usr/include
)
# Library source files
set(COSTMAP_SOURCES
add_definitions(${EIGEN3_DEFINITIONS})
# ---- Core costmap_2d library ----
add_library(costmap_2d
src/array_parser.cpp
src/costmap_2d.cpp
# src/layer.cpp
src/observation_buffer.cpp
src/layer.cpp
src/layered_costmap.cpp
# src/costmap_math.cpp
src/footprint.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
add_library(${PROJECT_NAME} SHARED ${COSTMAP_SOURCES})
target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
# Install
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
target_link_libraries(costmap_2d
${Boost_LIBRARIES}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
# # ---- Layer plugins ----
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_
#include <vector>
#include <queue>
#include <boost/thread.hpp>
#include <vector> // Dùng cho std::vector
#include <queue> // Dùng trong các thuật toán quét ô (flood fill, BFS)
#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
* @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
{
// friend class CostmapTester; // Cho phép lớp test (gtest) truy cập vào các thành viên private
public:
/**
* @brief Constructor for a costmap
* @param cells_size_x The x size of the map in cells
* @param cells_size_y The y size of the map in cells
* @param resolution The resolution of the map in meters/cell
* @param origin_x The x origin of the map
* @param origin_y The y origin of the map
* @param default_value Default Value
* Constructor khởi tạo bản đồ costmap
* @param cells_size_x: số ô theo chiều X
* @param cells_size_y: số ô theo chiều Y
* @param resolution: kích thước 1 ô (mét / ô)
* @param origin_x: gốc bản đồ (tọa độ thế giới) theo trục X
* @param origin_y: gốc bản đồ (tọa độ thế giới) theo trục Y
* @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,
double origin_x, double origin_y, unsigned char default_value = 0);
/**
* @brief Copy constructor for a costmap, creates a copy efficiently
* @param map The costmap to copy
* Constructor sao chép (copy constructor)
* Dùng để tạo bản sao nhanh của một bản đồ costmap khác.
*/
Costmap2D(const Costmap2D& map);
/**
* @brief Overloaded assignment operator
* @param map The costmap to copy
* @return A reference to the map after the copy has finished
* Toán tử gán (=) được overload để sao chép dữ liệu từ bản đồ khác.
*/
Costmap2D& operator=(const Costmap2D& map);
/**
* @brief Turn this costmap into a copy of a window of a costmap passed in
* @param map The costmap to copy
* @param win_origin_x The x origin (lower left corner) for the window to copy, in meters
* @param win_origin_y The y origin (lower left corner) for the window to copy, in meters
* @param win_size_x The x size of the window, in meters
* @param win_size_y The y size of the window, in meters
* Tạo bản sao từ một vùng (window) của bản đồ khác.
* Dùng khi ta chỉ muốn sao chép một phần nhỏ của bản đồ lớn.
*/
bool copyCostmapWindow(const Costmap2D& map, double win_origin_x, double win_origin_y, double win_size_x,
double win_size_y);
/**
* @brief Default constructor
*/
/// Constructor mặc định (không khởi tạo kích thước)
Costmap2D();
/**
* @brief Destructor
*/
/// Destructor
virtual ~Costmap2D();
/**
* @brief Get the cost of a cell in the costmap
* @param mx The x coordinate of the cell
* @param my The y coordinate of the cell
* @return The cost of the cell
* Trả về giá trị chi phí (cost) của một ô (mx, my)
*/
unsigned char getCost(unsigned int mx, unsigned int my) const;
/**
* @brief Set the cost of a cell in the costmap
* @param mx The x coordinate of the cell
* @param my The y coordinate of the cell
* @param cost The cost to set the cell to
* Đặt giá trị cost cho một ô (mx, my)
*/
void setCost(unsigned int mx, unsigned int my, unsigned char cost);
/**
* @brief Convert from map coordinates to world coordinates
* @param mx The x map coordinate
* @param my The y map coordinate
* @param wx Will be set to the associated world x coordinate
* @param wy Will be set to the associated world y coordinate
* Chuyển đổi tọa độ map (ô) → tọa độ thế giới (mét)
* Dùng để vẽ, debug hoặc xác định vị trí thực tế của một ô.
*/
void mapToWorld(unsigned int mx, unsigned int my, double& wx, double& wy) const;
/**
* @brief Convert from world coordinates to map coordinates
* @param wx The x world coordinate
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @return True if the conversion was successful (legal bounds) false otherwise
* Chuyển đổi tọa độ thế giới → tọa độ map (ô)
* Nếu tọa độ nằm ngoài bản đồ → trả về false
*/
bool worldToMap(double wx, double wy, unsigned int& mx, unsigned int& my) const;
/**
* @brief Convert from world coordinates to map coordinates without checking for legal bounds
* @param wx The x world coordinate
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @note The returned map coordinates <b>are not guaranteed to lie within the map.</b>
* Chuyển đổi mà không kiểm tra biên hợp lệ (có thể nằm ngoài bản đồ)
*/
void worldToMapNoBounds(double wx, double wy, int& mx, int& my) const;
/**
* @brief Convert from world coordinates to map coordinates, constraining results to legal bounds.
* @param wx The x world coordinate
* @param wy The y world coordinate
* @param mx Will be set to the associated map x coordinate
* @param my Will be set to the associated map y coordinate
* @note The returned map coordinates are guaranteed to lie within the map.
* Chuyển đổi nhưng ép kết quả nằm trong biên của bản đồ (clamped)
*/
void worldToMapEnforceBounds(double wx, double wy, int& mx, int& my) const;
/**
* @brief Given two map coordinates... compute the associated index
* @param mx The x coordinate
* @param my The y coordinate
* @return The associated index
* Tính chỉ số 1D của ô từ cặp tọa độ (mx, my)
* Công thức: index = my * size_x_ + mx
*/
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
* @param index The index
* @param mx Will be set to the x coordinate
* @param my Will be set to the y coordinate
* Chuyển ngược lại: từ chỉ số 1D → cặp tọa độ (mx, my)
*/
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
* @return A pointer to the underlying unsigned char array storing cost values
* Trả về con trỏ đến mảng dữ liệu costmap (unsigned char array)
*/
unsigned char* getCharMap() const;
/**
* @brief Accessor for the x size of the costmap in cells
* @return The x size of the costmap
* Trả về số ô theo trục X
*/
unsigned int getSizeInCellsX() const;
/**
* @brief Accessor for the y size of the costmap in cells
* @return The y size of the costmap
* Trả về số ô theo trục Y
*/
unsigned int getSizeInCellsY() const;
/**
* @brief Accessor for the x size of the costmap in meters
* @return The x size of the costmap (returns the centerpoint of the last legal cell in the map)
* Trả về kích thước bản đồ theo mét (theo X)
*/
double getSizeInMetersX() const;
/**
* @brief Accessor for the y size of the costmap in meters
* @return The y size of the costmap (returns the centerpoint of the last legal cell in the map)
* Trả về kích thước bản đồ theo mét (theo Y)
*/
double getSizeInMetersY() const;
/**
* @brief Accessor for the x origin of the costmap
* @return The x origin of the costmap
* Trả về tọa độ gốc bản đồ theo trục X (tọa độ thế giới)
*/
double getOriginX() const;
/**
* @brief Accessor for the y origin of the costmap
* @return The y origin of the costmap
* Trả về tọa độ gốc bản đồ theo trục Y (tọa độ thế giới)
*/
double getOriginY() const;
/**
* @brief Accessor for the resolution of the costmap
* @return The resolution of the costmap
* Trả về độ phân giải (mét / ô)
*/
double getResolution() const;
/// Đặt giá trị mặc định (cost khi reset map)
void setDefaultValue(unsigned char c)
{
default_value_ = c;
}
/// Trả về giá trị mặc định
unsigned char getDefaultValue()
{
return default_value_;
}
/**
* @brief Sets the cost of a convex polygon to a desired value
* @param polygon The polygon to perform the operation on
* @param cost_value The value to set costs to
* @return True if the polygon was filled... false if it could not be filled
* Đặt cost cho một vùng đa giác lồi (convex polygon)
* Dùng để đánh dấu vùng chướng ngại vật hoặc vùng forbidden.
*/
bool setConvexPolygonCost(const std::vector<Point>& polygon, unsigned char cost_value);
/**
* @brief Get the map cells that make up the outline of a polygon
* @param polygon The polygon in map coordinates to rasterize
* @param polygon_cells Will be set to the cells contained in the outline of the polygon
* Lấy danh sách các ô nằm trên viền (outline) của một polygon.
*/
void polygonOutlineCells(const std::vector<MapLocation>& polygon, std::vector<MapLocation>& polygon_cells);
/**
* @brief Get the map cells that fill a convex polygon
* @param polygon The polygon in map coordinates to rasterize
* @param polygon_cells Will be set to the cells that fill the polygon
* Lấy danh sách các ô nằm bên trong polygon (điền vùng lồi).
*/
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
* @param new_origin_x The x coordinate of the new origin
* @param new_origin_y The y coordinate of the new origin
* Cập nhật lại gốc bản đồ (origin) sang vị trí mới,
* giữ lại dữ liệu cũ nếu có thể (thường dùng khi robot di chuyển xa).
*/
virtual void updateOrigin(double new_origin_x, double new_origin_y);
/**
* @brief Save the costmap out to a pgm file
* @param file_name The name of the file to save
* Lưu bản đồ ra file ảnh PGM (phục vụ debug hoặc visualization)
*/
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,
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);
/**
* @brief Given distance in the world... convert it to cells
* @param world_dist The world distance
* @return The equivalent cell distance
* Chuyển khoảng cách theo mét → số ô tương ứng
*/
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;
mutex_t* getMutex()
{
@ -264,17 +219,8 @@ public:
protected:
/**
* @brief Copy a region of a source map into a destination map
* @param source_map The source map
* @param sm_lower_left_x The lower left x point of the source map to start the copy
* @param sm_lower_left_y The lower left y point of the source map to start the copy
* @param sm_size_x The x size of the source map
* @param dest_map The destination map
* @param dm_lower_left_x The lower left x point of the destination map to start the copy
* @param dm_lower_left_y The lower left y point of the destination map to start the copy
* @param dm_size_x The x size of the destination map
* @param region_size_x The x size of the region to copy
* @param region_size_y The y size of the region to copy
* Hàm template copy một vùng dữ liệu từ bản đồ nguồn → bản đồ đích
* Dữ liệu được copy bằng memcpy để đảm bảo nhanh.
*/
template<typename data_type>
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 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);
// 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);
// 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)
{
// Copy nguyên hàng (memcpy nhanh hơn vòng for từng phần tử)
memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
sm_index += sm_size_x;
dm_index += dm_size_x;
sm_index += sm_size_x; // chuyển sang hàng tiếp theo của source
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();
/**
* @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();
/**
* @brief Initializes the costmap, static_map, and markers data structures
* @param size_x The x size to use for map initialization
* @param size_y The y size to use for map initialization
* Cấp phát và khởi tạo bộ nhớ cho costmap
*/
virtual void initMaps(unsigned int size_x, unsigned int size_y);
/**
* @brief Raytrace a line and apply some action at each step
* @param at The action to take... a functor
* @param x0 The starting x coordinate
* @param y0 The starting y coordinate
* @param x1 The ending x coordinate
* @param y1 The ending y coordinate
* @param max_length The maximum desired length of the segment... allows you to not go all the way to the endpoint
* Thuật toán raytracing Bresenham — đi từ điểm (x0,y0) → (x1,y1)
* Mỗi bước sẽ gọi “ActionType” (một functor) để đánh dấu hoặc xử lý từng ô.
* Thường dùng cho sensor update (quét laser).
*/
template<class ActionType>
inline void raytraceLine(ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1,
unsigned int max_length = UINT_MAX)
{
int dx = x1 - x0;
int dy = y1 - y0;
int dx = x1 - x0; // Khoảng cách theo trục X
int dy = y1 - y0; // Khoảng cách theo trục Y
unsigned int abs_dx = abs(dx);
unsigned int abs_dy = abs(dy);
int offset_dx = sign(dx);
int offset_dy = sign(dy) * size_x_;
int offset_dx = sign(dx); // Hướng đi theo 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);
double dist = hypot(dx, dy); // Chiều dài đoạn thẳng
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)
{
int error_y = abs_dx / 2;
@ -348,14 +289,13 @@ protected:
return;
}
// otherwise y is dominant
int error_x = abs_dy / 2;
bresenham2D(at, abs_dy, abs_dx, error_x, offset_dy, offset_dx, offset, (unsigned int)(scale * abs_dy));
}
private:
/**
* @brief A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step
* Triển khai Bresenham 2D — đi qua từng ô trên đường thẳng và gọi “at(offset)” mỗi bước.
*/
template<class ActionType>
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);
for (unsigned int i = 0; i < end; ++i)
{
at(offset);
offset += offset_a;
at(offset); // Gọi hành động (thường là đánh dấu costmap)
offset += offset_a; // Tiến thêm 1 bước theo hướng chính
error_b += abs_db;
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;
}
}
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)
{
return x > 0 ? 1.0 : -1.0;
}
mutex_t* access_;
protected:
unsigned int size_x_;
unsigned int size_y_;
double resolution_;
double origin_x_;
double origin_y_;
unsigned char* costmap_;
unsigned char default_value_;
mutex_t* access_; // Con trỏ đến mutex (đồng bộ truy cập costmap giữa các thread)
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
{
public:
@ -400,13 +345,16 @@ protected:
}
inline void operator()(unsigned int offset)
{
costmap_[offset] = value_;
costmap_[offset] = value_; // Gán cost của ô bằng giá trị value_
}
private:
unsigned char* costmap_;
unsigned char value_;
};
/**
* Functor nội bộ: dùng để thu thập các ô nằm trên viền polygon.
*/
class PolygonOutlineCells
{
public:
@ -415,12 +363,11 @@ protected:
{
}
// just push the relevant cells back onto the list
inline void operator()(unsigned int offset)
{
MapLocation loc;
costmap_.indexToCells(offset, loc.x, loc.y);
cells_.push_back(loc);
costmap_.indexToCells(offset, loc.x, loc.y); // Chuyển index → (x, y)
cells_.push_back(loc); // Thêm ô này vào danh sách viền polygon
}
private:
@ -432,4 +379,4 @@ protected:
} // namespace costmap_2d
#endif // COSTMAP_2D_COSTMAP_2D_H
#endif // COSTMAP_2D_COSTMAP_2D_H_

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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_

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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_

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#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_

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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

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#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;
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),
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
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_);
}
// Cấp phát vùng nhớ cho bản đồ
initMaps(size_x_, size_y_);
// 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

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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