DuongTD/costmap_2d
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duongtd 2025-10-29 17:38:43 +07:00
parent 7c1dcfd352
commit cdb9ded893
51 changed files with 2055 additions and 1216 deletions
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16
CMakeLists.txt
View File

@ -12,6 +12,15 @@ if (NOT TARGET geometry_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build) add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
endif() endif()
if (NOT TARGET nav_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
endif()
if (NOT TARGET map_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
endif()
# ---- Dependencies ---- # ---- Dependencies ----
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread) find_package(Boost REQUIRED COMPONENTS system thread)
@ -41,13 +50,16 @@ target_link_libraries(costmap_2d
${Boost_LIBRARIES} ${Boost_LIBRARIES}
sensor_msgs sensor_msgs
geometry_msgs geometry_msgs
nav_msgs
map_msgs
tf2
) )
# # ---- Layer plugins ---- # # ---- Layer plugins ----
add_library(layers add_library(layers
plugins/inflation_layer.cpp plugins/inflation_layer.cpp
# plugins/obstacle_layer.cpp plugins/obstacle_layer.cpp
# plugins/static_layer.cpp plugins/static_layer.cpp
# plugins/voxel_layer.cpp # plugins/voxel_layer.cpp
) )

16
build/CMakeCache.txt
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@ -238,7 +238,7 @@ boost_thread_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0
costmap_2d_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build costmap_2d_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build
//Dependencies for the target //Dependencies for the target
costmap_2d_LIB_DEPENDS:STATIC=general;Boost::system;general;Boost::thread; costmap_2d_LIB_DEPENDS:STATIC=general;Boost::system;general;Boost::thread;general;tf2;
//Value Computed by CMake //Value Computed by CMake
costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d
@ -252,6 +252,18 @@ geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry
//Dependencies for the target //Dependencies for the target
layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread; layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread;
//Value Computed by CMake
map_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build
//Value Computed by CMake
map_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/map_msgs
//Value Computed by CMake
nav_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build
//Value Computed by CMake
nav_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/nav_msgs
//Value Computed by CMake //Value Computed by CMake
sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build
@ -379,7 +391,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CMAKE_NM //ADVANCED property for variable: CMAKE_NM
CMAKE_NM-ADVANCED:INTERNAL=1 CMAKE_NM-ADVANCED:INTERNAL=1
//number of local generators //number of local generators
CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=4 CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=6
//ADVANCED property for variable: CMAKE_OBJCOPY //ADVANCED property for variable: CMAKE_OBJCOPY
CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CMAKE_OBJDUMP //ADVANCED property for variable: CMAKE_OBJDUMP

34
build/CMakeFiles/CMakeError.log
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@ -1,21 +1,21 @@
Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output: Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_c018a/fast && /usr/bin/make -f CMakeFiles/cmTC_c018a.dir/build.make CMakeFiles/cmTC_c018a.dir/build Run Build Command(s):/usr/bin/make cmTC_6fa4e/fast && /usr/bin/make -f CMakeFiles/cmTC_6fa4e.dir/build.make CMakeFiles/cmTC_6fa4e.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_c018a.dir/src.c.o Building C object CMakeFiles/cmTC_6fa4e.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_c018a.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c /usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_6fa4e.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c
Linking C executable cmTC_c018a Linking C executable cmTC_6fa4e
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_c018a.dir/link.txt --verbose=1 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fa4e.dir/link.txt --verbose=1
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_c018a.dir/src.c.o -o cmTC_c018a /usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_6fa4e.dir/src.c.o -o cmTC_6fa4e
/usr/bin/ld: CMakeFiles/cmTC_c018a.dir/src.c.o: in function `main': /usr/bin/ld: CMakeFiles/cmTC_6fa4e.dir/src.c.o: in function `main':
src.c:(.text+0x46): undefined reference to `pthread_create' src.c:(.text+0x46): undefined reference to `pthread_create'
/usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach' /usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach'
/usr/bin/ld: src.c:(.text+0x63): undefined reference to `pthread_join' /usr/bin/ld: src.c:(.text+0x63): undefined reference to `pthread_join'
collect2: error: ld returned 1 exit status collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_c018a.dir/build.make:87: cmTC_c018a] Error 1 make[1]: *** [CMakeFiles/cmTC_6fa4e.dir/build.make:87: cmTC_6fa4e] Error 1
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_c018a/fast] Error 2 make: *** [Makefile:121: cmTC_6fa4e/fast] Error 2
Source file was: Source file was:
@ -41,18 +41,18 @@ int main(void)
Determining if the function pthread_create exists in the pthreads failed with the following output: Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_08e7c/fast && /usr/bin/make -f CMakeFiles/cmTC_08e7c.dir/build.make CMakeFiles/cmTC_08e7c.dir/build Run Build Command(s):/usr/bin/make cmTC_74663/fast && /usr/bin/make -f CMakeFiles/cmTC_74663.dir/build.make CMakeFiles/cmTC_74663.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o Building C object CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
Linking C executable cmTC_08e7c Linking C executable cmTC_74663
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_08e7c.dir/link.txt --verbose=1 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_74663.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o -o cmTC_08e7c -lpthreads /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -o cmTC_74663 -lpthreads
/usr/bin/ld: cannot find -lpthreads /usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_08e7c.dir/build.make:87: cmTC_08e7c] Error 1 make[1]: *** [CMakeFiles/cmTC_74663.dir/build.make:87: cmTC_74663] Error 1
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_08e7c/fast] Error 2 make: *** [Makefile:121: cmTC_74663/fast] Error 2

168
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@ -28,13 +28,13 @@ The CXX compiler identification is GNU, found in "/home/duongtd/robotics_core/co
Determining if the C compiler works passed with the following output: Determining if the C compiler works passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_049bd/fast && /usr/bin/make -f CMakeFiles/cmTC_049bd.dir/build.make CMakeFiles/cmTC_049bd.dir/build Run Build Command(s):/usr/bin/make cmTC_2edfc/fast && /usr/bin/make -f CMakeFiles/cmTC_2edfc.dir/build.make CMakeFiles/cmTC_2edfc.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o Building C object CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o
/usr/bin/cc -o CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c /usr/bin/cc -o CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c
Linking C executable cmTC_049bd Linking C executable cmTC_2edfc
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_049bd.dir/link.txt --verbose=1 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2edfc.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o -o cmTC_049bd /usr/bin/cc CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -o cmTC_2edfc
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -42,10 +42,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
Detecting C compiler ABI info compiled with the following output: Detecting C compiler ABI info compiled with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_6fd48/fast && /usr/bin/make -f CMakeFiles/cmTC_6fd48.dir/build.make CMakeFiles/cmTC_6fd48.dir/build Run Build Command(s):/usr/bin/make cmTC_ae21c/fast && /usr/bin/make -f CMakeFiles/cmTC_ae21c.dir/build.make CMakeFiles/cmTC_ae21c.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
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Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
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@ -240,13 +240,13 @@ Parsed C implicit link information from above output:
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make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_c9cbf.dir/testCXXCompiler.cxx.o Building CXX object CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o
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make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -254,10 +254,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
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make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
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@ -436,7 +436,7 @@ Parsed CXX implicit link information from above output:
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Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
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make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -476,13 +476,13 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
Determining if the function pthread_create exists in the pthread passed with the following output: Determining if the function pthread_create exists in the pthread passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
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make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp' make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'

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double** cached_distances_; double** cached_distances_;
double last_min_x_, last_min_y_, last_max_x_, last_max_y_; double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_; bool getParams();
// void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around. bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
}; };

4
include/costmap_2d/layer.h
View File

@ -51,7 +51,7 @@ class Layer
public: public:
Layer(); Layer();
void initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf); void initialize(LayeredCostmap* parent, std::string name, tf2::BufferCore *tf);
/** /**
* @brief This is called by the LayeredCostmap to poll this plugin as to how * @brief This is called by the LayeredCostmap to poll this plugin as to how
@ -140,7 +140,7 @@ protected:
bool current_; bool current_;
bool enabled_; bool enabled_;
std::string name_; std::string name_;
std::shared_ptr<tf2::BufferCore> *tf_; tf2::BufferCore *tf_;
private: private:
std::vector<geometry_msgs::Point> footprint_spec_; std::vector<geometry_msgs::Point> footprint_spec_;

77
include/costmap_2d/obstacle_layer.h
View File

@ -38,7 +38,6 @@
#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_ #ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
#define COSTMAP_2D_OBSTACLE_LAYER_H_ #define COSTMAP_2D_OBSTACLE_LAYER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h> #include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h> #include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h> #include <costmap_2d/observation_buffer.h>
@ -46,14 +45,14 @@
#include <nav_msgs/OccupancyGrid.h> #include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h> #include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h> // #include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud.h> #include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h> #include <sensor_msgs/point_cloud_conversion.h>
#include <tf2_ros/message_filter.h> // #include <tf2_ros/message_filter.h>
#include <message_filters/subscriber.h> // #include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h> // #include <dynamic_reconfigure/server.h>
#include <costmap_2d/ObstaclePluginConfig.h> // #include <costmap_2d/ObstaclePluginConfig.h>
#include <costmap_2d/footprint.h> #include <costmap_2d/footprint.h>
namespace costmap_2d namespace costmap_2d
@ -77,44 +76,43 @@ public:
virtual void deactivate(); virtual void deactivate();
virtual void reset(); virtual void reset();
/** // /**
* @brief A callback to handle buffering LaserScan messages // * @brief A callback to handle buffering LaserScan messages
* @param message The message returned from a message notifier // * @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update // * @param buffer A pointer to the observation buffer to update
*/ // */
void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message, // void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer); // const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/** // /**
* @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max. // * @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
* @param message The message returned from a message notifier // * @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update // * @param buffer A pointer to the observation buffer to update
*/ // */
void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message, // void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer); // const boost::shared_ptr<ObservationBuffer>& buffer);
/** // /**
* @brief A callback to handle buffering PointCloud messages // * @brief A callback to handle buffering PointCloud messages
* @param message The message returned from a message notifier // * @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update // * @param buffer A pointer to the observation buffer to update
*/ // */
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message, // void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer); // const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/** // /**
* @brief A callback to handle buffering PointCloud2 messages // * @brief A callback to handle buffering PointCloud2 messages
* @param message The message returned from a message notifier // * @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update // * @param buffer A pointer to the observation buffer to update
*/ // */
void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message, // void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer); // const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// for testing purposes // for testing purposes
void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing); void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing); void clearStaticObservations(bool marking, bool clearing);
protected: protected:
virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
/** /**
* @brief Get the observations used to mark space * @brief Get the observations used to mark space
@ -152,10 +150,10 @@ protected:
std::string global_frame_; ///< @brief The global frame for the costmap std::string global_frame_; ///< @brief The global frame for the costmap
double max_obstacle_height_; ///< @brief Max Obstacle Height double max_obstacle_height_; ///< @brief Max Obstacle Height
laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds // laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters // std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor // std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
@ -164,12 +162,11 @@ protected:
std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_; std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
bool rolling_window_; bool rolling_window_;
dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;
int combination_method_; int combination_method_;
private: private:
void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level); bool getParams();
}; };
} // namespace costmap_2d } // namespace costmap_2d

17
include/costmap_2d/static_layer.h
View File

@ -3,12 +3,13 @@
#include <costmap_2d/costmap_layer.h> #include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h> #include <costmap_2d/layered_costmap.h>
#include <costmap_2d/GenericPluginConfig.h> // #include <costmap_2d/GenericPluginConfig.h>
#include <dynamic_reconfigure/server.h> // #include <dynamic_reconfigure/server.h>
#include <nav_msgs/OccupancyGrid.h> #include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h> #include <map_msgs/OccupancyGridUpdate.h>
#include <message_filters/subscriber.h> // #include <message_filters/subscriber.h>
#include <string> #include <string>
#include <geometry_msgs/TransformStamped.h>
namespace costmap_2d namespace costmap_2d
{ {
@ -28,10 +29,10 @@ public:
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j); virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void matchSize(); virtual void matchSize();
virtual void incomingMap(const nav_msgs::OccupancyGrid& new_map);
virtual void incomingUpdate(const map_msgs::OccupancyGridUpdate& update);
protected: protected:
virtual unsigned char interpretValue(unsigned char value); 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_; unsigned char* threshold_;
std::string base_frame_id_; std::string base_frame_id_;
std::string global_frame_; ///< @brief The global frame for the costmap std::string global_frame_; ///< @brief The global frame for the costmap
@ -45,7 +46,7 @@ protected:
bool use_maximum_; bool use_maximum_;
bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing
bool trinary_costmap_; bool trinary_costmap_;
ros::Subscriber map_sub_, map_update_sub_; // ros::Subscriber map_sub_, map_update_sub_;
unsigned char lethal_threshold_, unknown_cost_value_; unsigned char lethal_threshold_, unknown_cost_value_;
private: private:
@ -55,8 +56,8 @@ private:
* map along with its size will determine what parts of the costmap's * map along with its size will determine what parts of the costmap's
* static map are overwritten. * static map are overwritten.
*/ */
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level); // void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_; // dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
}; };
} // namespace costmap_2d } // namespace costmap_2d

540
plugins/inflation_layer.cpp
View File

@ -33,34 +33,48 @@ InflationLayer::InflationLayer()
inflation_access_ = new boost::recursive_mutex(); inflation_access_ = new boost::recursive_mutex();
} }
// void InflationLayer::onInitialize() void InflationLayer::onInitialize()
// { {
// { {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// ros::NodeHandle nh("~/" + name_), g_nh; current_ = true;
// current_ = true; if (seen_)
// if (seen_) delete[] seen_;
// delete[] seen_; seen_ = NULL;
// seen_ = NULL; seen_size_ = 0;
// seen_size_ = 0; need_reinflation_ = false;
// need_reinflation_ = false;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>::CallbackType cb = getParams();
// [this](auto& config, auto level){ reconfigureCB(config, level); }; }
// if (dsrv_ != NULL){ matchSize();
// dsrv_->clearCallback(); }
// dsrv_->setCallback(cb);
// }
// else
// {
// dsrv_ = new dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>(ros::NodeHandle("~/" + name_));
// dsrv_->setCallback(cb);
// }
// }
// matchSize(); bool InflationLayer::getParams()
// } {
try {
YAML::Node config = YAML::LoadFile("../cfg/config.yaml");
double cost_scaling_factor = config["inflation_layer"]["cost_scaling_factor"].as<double>();
double inflation_radius = config["inflation_layer"]["inflation_radius"].as<double>();
setInflationParameters(inflation_radius, cost_scaling_factor);
bool enabled = config["inflation_layer"]["enabled"].as<bool>();
bool inflate_unknown = config["inflation_layer"]["inflate_unknown"].as<bool>();
if (enabled_ != enabled || inflate_unknown_ != inflate_unknown) {
enabled_ = enabled;
inflate_unknown_ = inflate_unknown;
need_reinflation_ = true;
}
}
catch (const YAML::BadFile& e) {
std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
return false;
}
return true;
}
// void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level) // void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level)
// { // {
@ -73,276 +87,278 @@ InflationLayer::InflationLayer()
// } // }
// } // }
// void InflationLayer::matchSize() void InflationLayer::matchSize()
// { {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap(); costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
// resolution_ = costmap->getResolution(); resolution_ = costmap->getResolution();
// cell_inflation_radius_ = cellDistance(inflation_radius_); cell_inflation_radius_ = cellDistance(inflation_radius_);
// computeCaches(); computeCaches();
// unsigned int size_x = costmap->getSizeInCellsX(), size_y = costmap->getSizeInCellsY(); unsigned int size_x = costmap->getSizeInCellsX(), size_y = costmap->getSizeInCellsY();
// if (seen_) if (seen_)
// delete[] seen_; delete[] seen_;
// seen_size_ = size_x * size_y; seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_]; seen_ = new bool[seen_size_];
// } }
// void InflationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, void InflationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
// double* min_y, double* max_x, double* max_y) double* min_y, double* max_x, double* max_y)
// { {
// if (need_reinflation_) if (need_reinflation_)
// { {
// last_min_x_ = *min_x; last_min_x_ = *min_x;
// last_min_y_ = *min_y; last_min_y_ = *min_y;
// last_max_x_ = *max_x; last_max_x_ = *max_x;
// last_max_y_ = *max_y; last_max_y_ = *max_y;
// // For some reason when I make these -<double>::max() it does not // For some reason when I make these -<double>::max() it does not
// // work with Costmap2D::worldToMapEnforceBounds(), so I'm using // work with Costmap2D::worldToMapEnforceBounds(), so I'm using
// // -<float>::max() instead. // -<float>::max() instead.
// *min_x = -std::numeric_limits<float>::max(); *min_x = -std::numeric_limits<float>::max();
// *min_y = -std::numeric_limits<float>::max(); *min_y = -std::numeric_limits<float>::max();
// *max_x = std::numeric_limits<float>::max(); *max_x = std::numeric_limits<float>::max();
// *max_y = std::numeric_limits<float>::max(); *max_y = std::numeric_limits<float>::max();
// need_reinflation_ = false; need_reinflation_ = false;
// } }
// else else
// { {
// double tmp_min_x = last_min_x_; double tmp_min_x = last_min_x_;
// double tmp_min_y = last_min_y_; double tmp_min_y = last_min_y_;
// double tmp_max_x = last_max_x_; double tmp_max_x = last_max_x_;
// double tmp_max_y = last_max_y_; double tmp_max_y = last_max_y_;
// last_min_x_ = *min_x; last_min_x_ = *min_x;
// last_min_y_ = *min_y; last_min_y_ = *min_y;
// last_max_x_ = *max_x; last_max_x_ = *max_x;
// last_max_y_ = *max_y; last_max_y_ = *max_y;
// *min_x = std::min(tmp_min_x, *min_x) - inflation_radius_; *min_x = std::min(tmp_min_x, *min_x) - inflation_radius_;
// *min_y = std::min(tmp_min_y, *min_y) - inflation_radius_; *min_y = std::min(tmp_min_y, *min_y) - inflation_radius_;
// *max_x = std::max(tmp_max_x, *max_x) + inflation_radius_; *max_x = std::max(tmp_max_x, *max_x) + inflation_radius_;
// *max_y = std::max(tmp_max_y, *max_y) + inflation_radius_; *max_y = std::max(tmp_max_y, *max_y) + inflation_radius_;
// } }
// } }
// void InflationLayer::onFootprintChanged() void InflationLayer::onFootprintChanged()
// { {
// inscribed_radius_ = layered_costmap_->getInscribedRadius(); inscribed_radius_ = layered_costmap_->getInscribedRadius();
// cell_inflation_radius_ = cellDistance(inflation_radius_); cell_inflation_radius_ = cellDistance(inflation_radius_);
// computeCaches(); computeCaches();
// need_reinflation_ = true; need_reinflation_ = true;
// ROS_DEBUG("InflationLayer::onFootprintChanged(): num footprint points: %lu," printf("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
// " inscribed_radius_ = %.3f, inflation_radius_ = %.3f", " inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
// layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_); layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
// } }
// void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
// { {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// if (cell_inflation_radius_ == 0) if (cell_inflation_radius_ == 0)
// return; return;
// // make sure the inflation list is empty at the beginning of the cycle (should always be true) // make sure the inflation list is empty at the beginning of the cycle (should always be true)
// ROS_ASSERT_MSG(inflation_cells_.empty(), "The inflation list must be empty at the beginning of inflation"); if (!inflation_cells_.empty()) {
throw std::runtime_error("The inflation list must be empty at the beginning of inflation");
}
// unsigned char* master_array = master_grid.getCharMap(); unsigned char* master_array = master_grid.getCharMap();
// unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY(); unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY();
// if (seen_ == NULL) { if (seen_ == NULL) {
// ROS_WARN("InflationLayer::updateCosts(): seen_ array is NULL"); std::cerr <<"InflationLayer::updateCosts(): seen_ array is NULL" <<std::endl;
// seen_size_ = size_x * size_y; seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_]; seen_ = new bool[seen_size_];
// } }
// else if (seen_size_ != size_x * size_y) else if (seen_size_ != size_x * size_y)
// { {
// ROS_WARN("InflationLayer::updateCosts(): seen_ array size is wrong"); std::cerr <<"InflationLayer::updateCosts(): seen_ array size is wrong" <<std::endl;
// delete[] seen_; delete[] seen_;
// seen_size_ = size_x * size_y; seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_]; seen_ = new bool[seen_size_];
// } }
// memset(seen_, false, size_x * size_y * sizeof(bool)); memset(seen_, false, size_x * size_y * sizeof(bool));
// // We need to include in the inflation cells outside the bounding // We need to include in the inflation cells outside the bounding
// // box min_i...max_j, by the amount cell_inflation_radius_. Cells // box min_i...max_j, by the amount cell_inflation_radius_. Cells
// // up to that distance outside the box can still influence the costs // up to that distance outside the box can still influence the costs
// // stored in cells inside the box. // stored in cells inside the box.
// min_i -= cell_inflation_radius_; min_i -= cell_inflation_radius_;
// min_j -= cell_inflation_radius_; min_j -= cell_inflation_radius_;
// max_i += cell_inflation_radius_; max_i += cell_inflation_radius_;
// max_j += cell_inflation_radius_; max_j += cell_inflation_radius_;
// min_i = std::max(0, min_i); min_i = std::max(0, min_i);
// min_j = std::max(0, min_j); min_j = std::max(0, min_j);
// max_i = std::min(int(size_x), max_i); max_i = std::min(int(size_x), max_i);
// max_j = std::min(int(size_y), max_j); max_j = std::min(int(size_y), max_j);
// // Inflation list; we append cells to visit in a list associated with its distance to the nearest obstacle // Inflation list; we append cells to visit in a list associated with its distance to the nearest obstacle
// // We use a map<distance, list> to emulate the priority queue used before, with a notable performance boost // We use a map<distance, list> to emulate the priority queue used before, with a notable performance boost
// // Start with lethal obstacles: by definition distance is 0.0 // Start with lethal obstacles: by definition distance is 0.0
// std::vector<CellData>& obs_bin = inflation_cells_[0.0]; std::vector<CellData>& obs_bin = inflation_cells_[0.0];
// for (int j = min_j; j < max_j; j++) for (int j = min_j; j < max_j; j++)
// { {
// for (int i = min_i; i < max_i; i++) for (int i = min_i; i < max_i; i++)
// { {
// int index = master_grid.getIndex(i, j); int index = master_grid.getIndex(i, j);
// unsigned char cost = master_array[index]; unsigned char cost = master_array[index];
// if (cost == LETHAL_OBSTACLE) if (cost == LETHAL_OBSTACLE)
// { {
// obs_bin.push_back(CellData(index, i, j, i, j)); obs_bin.push_back(CellData(index, i, j, i, j));
// } }
// } }
// } }
// // Process cells by increasing distance; new cells are appended to the corresponding distance bin, so they // Process cells by increasing distance; new cells are appended to the corresponding distance bin, so they
// // can overtake previously inserted but farther away cells // can overtake previously inserted but farther away cells
// std::map<double, std::vector<CellData> >::iterator bin; std::map<double, std::vector<CellData> >::iterator bin;
// for (bin = inflation_cells_.begin(); bin != inflation_cells_.end(); ++bin) for (bin = inflation_cells_.begin(); bin != inflation_cells_.end(); ++bin)
// { {
// for (int i = 0; i < bin->second.size(); ++i) for (int i = 0; i < bin->second.size(); ++i)
// { {
// // process all cells at distance dist_bin.first // process all cells at distance dist_bin.first
// const CellData& cell = bin->second[i]; const CellData& cell = bin->second[i];
// unsigned int index = cell.index_; unsigned int index = cell.index_;
// // ignore if already visited // ignore if already visited
// if (seen_[index]) if (seen_[index])
// { {
// continue; continue;
// } }
// seen_[index] = true; seen_[index] = true;
// unsigned int mx = cell.x_; unsigned int mx = cell.x_;
// unsigned int my = cell.y_; unsigned int my = cell.y_;
// unsigned int sx = cell.src_x_; unsigned int sx = cell.src_x_;
// unsigned int sy = cell.src_y_; unsigned int sy = cell.src_y_;
// // assign the cost associated with the distance from an obstacle to the cell // assign the cost associated with the distance from an obstacle to the cell
// unsigned char cost = costLookup(mx, my, sx, sy); unsigned char cost = costLookup(mx, my, sx, sy);
// unsigned char old_cost = master_array[index]; unsigned char old_cost = master_array[index];
// if (old_cost == NO_INFORMATION && (inflate_unknown_ ? (cost > FREE_SPACE) : (cost >= INSCRIBED_INFLATED_OBSTACLE))) if (old_cost == NO_INFORMATION && (inflate_unknown_ ? (cost > FREE_SPACE) : (cost >= INSCRIBED_INFLATED_OBSTACLE)))
// master_array[index] = cost; master_array[index] = cost;
// else else
// master_array[index] = std::max(old_cost, cost); master_array[index] = std::max(old_cost, cost);
// // attempt to put the neighbors of the current cell onto the inflation list // attempt to put the neighbors of the current cell onto the inflation list
// if (mx > 0) if (mx > 0)
// enqueue(index - 1, mx - 1, my, sx, sy); enqueue(index - 1, mx - 1, my, sx, sy);
// if (my > 0) if (my > 0)
// enqueue(index - size_x, mx, my - 1, sx, sy); enqueue(index - size_x, mx, my - 1, sx, sy);
// if (mx < size_x - 1) if (mx < size_x - 1)
// enqueue(index + 1, mx + 1, my, sx, sy); enqueue(index + 1, mx + 1, my, sx, sy);
// if (my < size_y - 1) if (my < size_y - 1)
// enqueue(index + size_x, mx, my + 1, sx, sy); enqueue(index + size_x, mx, my + 1, sx, sy);
// } }
// } }
// inflation_cells_.clear(); inflation_cells_.clear();
// } }
// /** /**
// * @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation * @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation
// * @param grid The costmap * @param grid The costmap
// * @param index The index of the cell * @param index The index of the cell
// * @param mx The x coordinate of the cell (can be computed from the index, but saves time to store it) * @param mx The x coordinate of the cell (can be computed from the index, but saves time to store it)
// * @param my The y coordinate of the cell (can be computed from the index, but saves time to store it) * @param my The y coordinate of the cell (can be computed from the index, but saves time to store it)
// * @param src_x The x index of the obstacle point inflation started at * @param src_x The x index of the obstacle point inflation started at
// * @param src_y The y index of the obstacle point inflation started at * @param src_y The y index of the obstacle point inflation started at
// */ */
// inline void InflationLayer::enqueue(unsigned int index, unsigned int mx, unsigned int my, inline void InflationLayer::enqueue(unsigned int index, unsigned int mx, unsigned int my,
// unsigned int src_x, unsigned int src_y) unsigned int src_x, unsigned int src_y)
// { {
// if (!seen_[index]) if (!seen_[index])
// { {
// // we compute our distance table one cell further than the inflation radius dictates so we can make the check below // we compute our distance table one cell further than the inflation radius dictates so we can make the check below
// double distance = distanceLookup(mx, my, src_x, src_y); double distance = distanceLookup(mx, my, src_x, src_y);
// // we only want to put the cell in the list if it is within the inflation radius of the obstacle point // we only want to put the cell in the list if it is within the inflation radius of the obstacle point
// if (distance > cell_inflation_radius_) if (distance > cell_inflation_radius_)
// return; return;
// // push the cell data onto the inflation list and mark // push the cell data onto the inflation list and mark
// inflation_cells_[distance].push_back(CellData(index, mx, my, src_x, src_y)); inflation_cells_[distance].push_back(CellData(index, mx, my, src_x, src_y));
// } }
// } }
// void InflationLayer::computeCaches() void InflationLayer::computeCaches()
// { {
// if (cell_inflation_radius_ == 0) if (cell_inflation_radius_ == 0)
// return; return;
// // based on the inflation radius... compute distance and cost caches // based on the inflation radius... compute distance and cost caches
// if (cell_inflation_radius_ != cached_cell_inflation_radius_) if (cell_inflation_radius_ != cached_cell_inflation_radius_)
// { {
// deleteKernels(); deleteKernels();
// cached_costs_ = new unsigned char*[cell_inflation_radius_ + 2]; cached_costs_ = new unsigned char*[cell_inflation_radius_ + 2];
// cached_distances_ = new double*[cell_inflation_radius_ + 2]; cached_distances_ = new double*[cell_inflation_radius_ + 2];
// for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i) for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
// { {
// cached_costs_[i] = new unsigned char[cell_inflation_radius_ + 2]; cached_costs_[i] = new unsigned char[cell_inflation_radius_ + 2];
// cached_distances_[i] = new double[cell_inflation_radius_ + 2]; cached_distances_[i] = new double[cell_inflation_radius_ + 2];
// for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j) for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
// { {
// cached_distances_[i][j] = hypot(i, j); cached_distances_[i][j] = hypot(i, j);
// } }
// } }
// cached_cell_inflation_radius_ = cell_inflation_radius_; cached_cell_inflation_radius_ = cell_inflation_radius_;
// } }
// for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i) for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
// { {
// for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j) for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
// { {
// cached_costs_[i][j] = computeCost(cached_distances_[i][j]); cached_costs_[i][j] = computeCost(cached_distances_[i][j]);
// } }
// } }
// } }
// void InflationLayer::deleteKernels() void InflationLayer::deleteKernels()
// { {
// if (cached_distances_ != NULL) if (cached_distances_ != NULL)
// { {
// for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i) for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
// { {
// if (cached_distances_[i]) if (cached_distances_[i])
// delete[] cached_distances_[i]; delete[] cached_distances_[i];
// } }
// if (cached_distances_) if (cached_distances_)
// delete[] cached_distances_; delete[] cached_distances_;
// cached_distances_ = NULL; cached_distances_ = NULL;
// } }
// if (cached_costs_ != NULL) if (cached_costs_ != NULL)
// { {
// for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i) for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
// { {
// if (cached_costs_[i]) if (cached_costs_[i])
// delete[] cached_costs_[i]; delete[] cached_costs_[i];
// } }
// delete[] cached_costs_; delete[] cached_costs_;
// cached_costs_ = NULL; cached_costs_ = NULL;
// } }
// } }
// void InflationLayer::setInflationParameters(double inflation_radius, double cost_scaling_factor) void InflationLayer::setInflationParameters(double inflation_radius, double cost_scaling_factor)
// { {
// if (weight_ != cost_scaling_factor || inflation_radius_ != inflation_radius) if (weight_ != cost_scaling_factor || inflation_radius_ != inflation_radius)
// { {
// // Lock here so that reconfiguring the inflation radius doesn't cause segfaults // Lock here so that reconfiguring the inflation radius doesn't cause segfaults
// // when accessing the cached arrays // when accessing the cached arrays
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_); boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// inflation_radius_ = inflation_radius; inflation_radius_ = inflation_radius;
// cell_inflation_radius_ = cellDistance(inflation_radius_); cell_inflation_radius_ = cellDistance(inflation_radius_);
// weight_ = cost_scaling_factor; weight_ = cost_scaling_factor;
// need_reinflation_ = true; need_reinflation_ = true;
// computeCaches(); computeCaches();
// } }
// } }
// Export factory function // Export factory function
static PluginPtr create_inflation_plugin() { static PluginPtr create_inflation_plugin() {

1207
plugins/obstacle_layer.cpp
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File diff suppressed because it is too large Load Diff

251
plugins/static_layer.cpp
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@ -1,48 +1,10 @@
/*********************************************************************
*
* 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/static_layer.h>
#include <costmap_2d/costmap_math.h> #include <costmap_2d/costmap_math.h>
#include <pluginlib/class_list_macros.hpp>
#include <tf2/convert.h> #include <tf2/convert.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h> #include <tf2/utils.h>
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer) #include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION; using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE; using costmap_2d::LETHAL_OBSTACLE;
@ -51,92 +13,78 @@ using costmap_2d::FREE_SPACE;
namespace costmap_2d namespace costmap_2d
{ {
StaticLayer::StaticLayer() : dsrv_(NULL) StaticLayer::StaticLayer()
{ {
threshold_ = &lethal_threshold_; threshold_ = &lethal_threshold_;
} }
StaticLayer::~StaticLayer() StaticLayer::~StaticLayer()
{ {}
if (dsrv_)
delete dsrv_;
}
void StaticLayer::onInitialize() void StaticLayer::onInitialize()
{ {
ros::NodeHandle nh("~/" + name_), g_nh; // ros::NodeHandle nh("~/" + name_), g_nh;
current_ = true; current_ = true;
global_frame_ = layered_costmap_->getGlobalFrameID(); global_frame_ = layered_costmap_->getGlobalFrameID();
nh.param("map_topic", map_topic_, std::string("map")); // nh.param("map_topic", map_topic_, std::string("map"));
nh.param("first_map_only", first_map_only_, false); // nh.param("first_map_only", first_map_only_, false);
nh.param("subscribe_to_updates", subscribe_to_updates_, false); // nh.param("subscribe_to_updates", subscribe_to_updates_, false);
nh.param("track_unknown_space", track_unknown_space_, true); // nh.param("track_unknown_space", track_unknown_space_, true);
nh.param("use_maximum", use_maximum_, false); // nh.param("use_maximum", use_maximum_, false);
int temp_lethal_threshold, temp_unknown_cost_value; // int temp_lethal_threshold, temp_unknown_cost_value;
nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100)); // nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1)); // nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
nh.param("trinary_costmap", trinary_costmap_, true); // nh.param("trinary_costmap", trinary_costmap_, true);
nh.param("base_frame_id", base_frame_id_, std::string("base_footprint")); // 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]", // lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
// 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_); // unknown_cost_value_ = temp_unknown_cost_value;
lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
unknown_cost_value_ = temp_unknown_cost_value;
// Only resubscribe if topic has changed // Only resubscribe if topic has changed
if (map_sub_.getTopic() != ros::names::resolve(map_topic_)) // if (map_sub_.getTopic() != ros::names::resolve(map_topic_))
{ // {
// we'll subscribe to the latched topic that the map server uses // // we'll subscribe to the latched topic that the map server uses
ROS_INFO("Requesting the map..."); // printf("Requesting the map...");
map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this); // map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this);
map_received_ = false; // map_received_ = false;
has_updated_data_ = false; // has_updated_data_ = false;
ros::Rate r(10); // ros::Rate r(10);
while (!map_received_ && g_nh.ok()) // while (!map_received_ && g_nh.ok())
{ // {
ros::spinOnce(); // ros::spinOnce();
r.sleep(); // r.sleep();
} // }
ROS_INFO("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution()); // printf("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());
if (subscribe_to_updates_) // if (subscribe_to_updates_)
{ // {
ROS_INFO("Subscribing to updates"); // printf("Subscribing to updates");
map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this); // map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this);
} // }
} // }
else // else
{ // {
has_updated_data_ = true; // 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) // void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
{ // {
if (config.enabled != enabled_) // if (config.enabled != enabled_)
{ // {
enabled_ = config.enabled; // enabled_ = config.enabled;
has_updated_data_ = true; // has_updated_data_ = true;
x_ = y_ = 0; // x_ = y_ = 0;
width_ = size_x_; // width_ = size_x_;
height_ = size_y_; // height_ = size_y_;
} // }
} // }
void StaticLayer::matchSize() void StaticLayer::matchSize()
{ {
@ -166,36 +114,36 @@ unsigned char StaticLayer::interpretValue(unsigned char value)
return scale * LETHAL_OBSTACLE; return scale * LETHAL_OBSTACLE;
} }
void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map) void StaticLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
{ {
unsigned int size_x = new_map->info.width, size_y = new_map->info.height; 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); printf("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 // resize costmap if size, resolution or origin do not match
Costmap2D* master = layered_costmap_->getCostmap(); Costmap2D* master = layered_costmap_->getCostmap();
if (!layered_costmap_->isRolling() && if (!layered_costmap_->isRolling() &&
(master->getSizeInCellsX() != size_x || (master->getSizeInCellsX() != size_x ||
master->getSizeInCellsY() != size_y || master->getSizeInCellsY() != size_y ||
master->getResolution() != new_map->info.resolution || master->getResolution() != new_map.info.resolution ||
master->getOriginX() != new_map->info.origin.position.x || master->getOriginX() != new_map.info.origin.position.x ||
master->getOriginY() != new_map->info.origin.position.y)) master->getOriginY() != new_map.info.origin.position.y))
{ {
// Update the size of the layered costmap (and all layers, including this one) // 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); printf("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map.info.resolution);
layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution, new_map->info.origin.position.x, layered_costmap_->resizeMap(size_x, size_y, new_map.info.resolution, new_map.info.origin.position.x,
new_map->info.origin.position.y, new_map.info.origin.position.y,
true /* set size_locked to true, prevents reconfigureCb from overriding map size*/); true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
} }
else if (size_x_ != size_x || size_y_ != size_y || else if (size_x_ != size_x || size_y_ != size_y ||
resolution_ != new_map->info.resolution || resolution_ != new_map.info.resolution ||
origin_x_ != new_map->info.origin.position.x || origin_x_ != new_map.info.origin.position.x ||
origin_y_ != new_map->info.origin.position.y) origin_y_ != new_map.info.origin.position.y)
{ {
// only update the size of the costmap stored locally in this layer // 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); printf("Resizing static layer to %d X %d at %f m/pix", size_x, size_y, new_map.info.resolution);
resizeMap(size_x, size_y, new_map->info.resolution, resizeMap(size_x, size_y, new_map.info.resolution,
new_map->info.origin.position.x, new_map->info.origin.position.y); new_map.info.origin.position.x, new_map.info.origin.position.y);
} }
unsigned int index = 0; unsigned int index = 0;
@ -205,12 +153,12 @@ void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
{ {
for (unsigned int j = 0; j < size_x; ++j) for (unsigned int j = 0; j < size_x; ++j)
{ {
unsigned char value = new_map->data[index]; unsigned char value = new_map.data[index];
costmap_[index] = interpretValue(value); costmap_[index] = interpretValue(value);
++index; ++index;
} }
} }
map_frame_ = new_map->header.frame_id; map_frame_ = new_map.header.frame_id;
// we have a new map, update full size of map // we have a new map, update full size of map
x_ = y_ = 0; x_ = y_ = 0;
@ -222,27 +170,27 @@ void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
// shutdown the map subscrber if firt_map_only_ flag is on // shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_) if (first_map_only_)
{ {
ROS_INFO("Shutting down the map subscriber. first_map_only flag is on"); printf("Shutting down the map subscriber. first_map_only flag is on");
map_sub_.shutdown(); // map_sub_.shutdown();
} }
} }
void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update) void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdate& update)
{ {
unsigned int di = 0; unsigned int di = 0;
for (unsigned int y = 0; y < update->height ; y++) for (unsigned int y = 0; y < update.height ; y++)
{ {
unsigned int index_base = (update->y + y) * size_x_; unsigned int index_base = (update.y + y) * size_x_;
for (unsigned int x = 0; x < update->width ; x++) for (unsigned int x = 0; x < update.width ; x++)
{ {
unsigned int index = index_base + x + update->x; unsigned int index = index_base + x + update.x;
costmap_[index] = interpretValue(update->data[di++]); costmap_[index] = interpretValue(update.data[di++]);
} }
} }
x_ = update->x; x_ = update.x;
y_ = update->y; y_ = update.y;
width_ = update->width; width_ = update.width;
height_ = update->height; height_ = update.height;
has_updated_data_ = true; has_updated_data_ = true;
} }
@ -251,12 +199,12 @@ void StaticLayer::activate()
onInitialize(); onInitialize();
} }
void StaticLayer::deactivate() // void StaticLayer::deactivate()
{ // {
map_sub_.shutdown(); // map_sub_.shutdown();
if (subscribe_to_updates_) // if (subscribe_to_updates_)
map_update_sub_.shutdown(); // map_update_sub_.shutdown();
} // }
void StaticLayer::reset() void StaticLayer::reset()
{ {
@ -314,18 +262,23 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
double wx, wy; double wx, wy;
// Might even be in a different frame // Might even be in a different frame
geometry_msgs::TransformStamped transform; geometry_msgs::TransformStamped transform;
tf2::TransformStampedMsg transformMsg;
try try
{ {
transform = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0)); // transformMsg = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0));
tf_->canTransform(map_frame_, global_frame_, tf2::Time());
tf_->lookupTransform(map_frame_,
global_frame_,
tf2::Time());
} }
catch (tf2::TransformException ex) catch (tf2::TransformException ex)
{ {
ROS_ERROR("%s", ex.what()); printf("%s", ex.what());
return; return;
} }
// Copy map data given proper transformations // Copy map data given proper transformations
tf2::Transform tf2_transform; tf2::Transform tf2_transform;
tf2::convert(transform.transform, tf2_transform); // tf2::convert(transform.transform, tf2_transform);
for (unsigned int i = min_i; i < max_i; ++i) for (unsigned int i = min_i; i < max_i; ++i)
{ {
for (unsigned int j = min_j; j < max_j; ++j) for (unsigned int j = min_j; j < max_j; ++j)
@ -334,7 +287,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy); layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy);
// Transform from global_frame_ to map_frame_ // Transform from global_frame_ to map_frame_
tf2::Vector3 p(wx, wy, 0); tf2::Vector3 p(wx, wy, 0);
p = tf2_transform*p; // p = tf2_transform*p;
// Set master_grid with cell from map // Set master_grid with cell from map
if (worldToMap(p.x(), p.y(), mx, my)) if (worldToMap(p.x(), p.y(), mx, my))
{ {
@ -348,4 +301,12 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
} }
} }
// Export factory function
static PluginPtr create_static_plugin() {
return std::make_shared<StaticLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_static_plugin, create_plugin)
} // namespace costmap_2d } // namespace costmap_2d

2
src/layer.cpp
View File

@ -11,7 +11,7 @@ Layer::Layer()
, tf_(NULL) , tf_(NULL)
{} {}
void Layer::initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf) void Layer::initialize(LayeredCostmap* parent, std::string name, tf2::BufferCore *tf)
{ {
layered_costmap_ = parent; layered_costmap_ = parent;
name_ = name; name_ = name;

1
src/observation_buffer.cpp
View File

@ -2,7 +2,6 @@
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h> // #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
// #include <tf2_sensor_msgs/tf2_sensor_msgs.h> // #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
// #include <sensor_msgs/point_cloud2_iterator.h>
#include<tf2/convert.h> #include<tf2/convert.h>
#include <sensor_msgs/point_cloud2_iterator.h> #include <sensor_msgs/point_cloud2_iterator.h>
#include <cstdint> #include <cstdint>