update

CMakeLists.txt

@@ -49,7 +49,7 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
     robot_time
   )
-
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 else()
 
 # ========================================================
@@ -64,7 +64,6 @@ else()
     robot_laser_geometry
     robot_visualization_msgs
     robot_voxel_grid
-    tf3
     robot_tf3_geometry_msgs
     robot_tf3_sensor_msgs
     data_convert
@@ -73,10 +72,12 @@ else()
     robot_time
   )
 
+  find_library(TF3_LIBRARY NAMES tf3)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES robot_costmap_2d plugins
-    CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
+    CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
     DEPENDS  PCL Boost 
   )
 
@@ -87,6 +88,7 @@ else()
     ${Boost_INCLUDE_DIRS}
     ${GTEST_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
   link_directories(${PCL_LIBRARY_DIRS})
 endif()
@@ -122,6 +124,7 @@ if(BUILDING_WITH_CATKIN)
       ${EIGEN3_INCLUDE_DIRS}
       ${Boost_INCLUDE_DIRS}
       ${PCL_INCLUDE_DIRS}
+      ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(robot_costmap_2d
@@ -130,6 +133,7 @@ if(BUILDING_WITH_CATKIN)
     PRIVATE yaml-cpp
     PRIVATE dl
     PRIVATE ${PCL_LIBRARIES}
+    PRIVATE ${TF3_LIBRARY}
   )
 
 else()
@@ -141,6 +145,7 @@ else()
       ${EIGEN3_INCLUDE_DIRS}
       ${Boost_INCLUDE_DIRS}
       ${PCL_INCLUDE_DIRS}
+      ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(robot_costmap_2d
@@ -151,6 +156,7 @@ else()
       yaml-cpp
       dl
       ${PCL_LIBRARIES}
+      ${TF3_LIBRARY}
   )
 
   set_target_properties(robot_costmap_2d PROPERTIES
@@ -189,6 +195,7 @@ if(BUILDING_WITH_CATKIN)
     PRIVATE ${catkin_LIBRARIES}
     PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
     PRIVATE yaml-cpp
+    PRIVATE ${TF3_LIBRARY}
   )
 
 else()
@@ -205,6 +212,7 @@ else()
     PRIVATE yaml-cpp
     PRIVATE robot_time
     PRIVATE robot_cpp
+    PRIVATE ${TF3_LIBRARY}
   )
 
   set_target_properties(plugins PROPERTIES
@@ -270,41 +278,47 @@ endif()
 # ========================================================
 # Test executables
 # ========================================================
-# option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" OFF)
+option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
 
-# if(BUILD_COSTMAP_TESTS)
+if(BUILD_COSTMAP_TESTS)
-#   if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
+  find_package(GTest REQUIRED)
-#     add_executable(test_array_parser test/array_parser_test.cpp)
+  find_package(Boost REQUIRED COMPONENTS system thread filesystem)
-#     target_link_libraries(test_array_parser PRIVATE
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
-#       robot_costmap_2d
-#       GTest::GTest
-#       GTest::Main
-#       Threads::Threads
-#     )
-#   endif()
 
-#   if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp)
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
-#     add_executable(test_costmap test/coordinates_test.cpp)
+    add_executable(test_array_parser test/array_parser_test.cpp)
-#     target_link_libraries(test_costmap PRIVATE
+    target_link_libraries(test_array_parser PRIVATE 
-#       robot_costmap_2d
+      robot_costmap_2d
-#       GTest::GTest
+      GTest::GTest
-#       GTest::Main
+      GTest::Main
-#       Threads::Threads
+      Boost::system Boost::thread
-#     )
+      ${TF3_LIBRARY}
-#   endif()
+    )
+  endif()
 
-#   if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp)
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp)
-#     add_executable(test_plugin test/static_layer_test.cpp)
+    add_executable(test_costmap test/coordinates_test.cpp)
-#     target_link_libraries(test_plugin PRIVATE
+    target_link_libraries(test_costmap PRIVATE
-#       robot_costmap_2d
+      robot_costmap_2d
-#       Boost::boost Boost::filesystem Boost::system
+      GTest::GTest
-#       yaml-cpp
+      GTest::Main
-#       dl
+      Boost::system Boost::thread
-#       Threads::Threads
+      ${TF3_LIBRARY}
-#       tf3
+    )
-#       robot_time
+  endif()
-#       GTest::GTest
+
-#       GTest::Main
+  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp)
-#     )
+    add_executable(test_plugin test/static_layer_test.cpp)
-#   endif()
+    target_link_libraries(test_plugin PRIVATE
-# endif()
+      robot_costmap_2d
+      Boost::boost Boost::filesystem Boost::system
+      yaml-cpp
+      dl
+      Boost::system Boost::thread
+      robot_time
+      GTest::GTest
+      GTest::Main
+      ${TF3_LIBRARY}
+    )
+  endif()
+endif()

package.xml

@@ -46,9 +46,6 @@
   <build_depend>robot_voxel_grid</build_depend>
   <run_depend>robot_voxel_grid</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
-
   <build_depend>robot_tf3_geometry_msgs</build_depend>
   <run_depend>robot_tf3_geometry_msgs</run_depend>
 

src/costmap_2d_robot.cpp

@@ -129,6 +129,8 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name,const std::st
     {
       if (last_error + robot::Duration(5.0) < robot::Time::now())
       {
+        std::string all_frames_string = tf_.allFramesAsString();
+        robot::log_info("[%s:%d]\n INFO: tf allFramesAsString: %s", __FILE__, __LINE__, all_frames_string.c_str());
         // std::cout << std::fixed << std::setprecision(6) << robot::Time::now().toSec() << std::endl;
         robot::log_warning("[%s:%d] %0.6f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
                 __FILE__, __LINE__, robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
@@ -332,21 +334,19 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
                                           const std::string& plugin_type, 
                                           robot::NodeHandle& nh)
 {
-  robot::NodeHandle priv_nh_1(nh, costmap_name);
+  robot::NodeHandle costmap_nh(nh, costmap_name);
-  robot::NodeHandle target_layer(priv_nh_1, plugin_name);
+  robot::NodeHandle costmap_plugin_nh(costmap_nh, plugin_name);
-  robot::NodeHandle priv_nh_2(nh, plugin_name);
+  robot::NodeHandle plugin_nh(nh, plugin_name);
-  // robot::log_error("TEST: %s",priv_nh_2.getNamespace().c_str());
-  
   if(plugin_type == "StaticLayer")
   {
     std::string map_topic;
     int unknown_cost_value;
     int lethal_cost_threshold;
     bool track_unknown_space;
-    move_parameter(priv_nh_2, target_layer, "map_topic", map_topic);
+    move_parameter(plugin_nh, costmap_plugin_nh, "map_topic", map_topic);
-    move_parameter(priv_nh_2, target_layer, "unknown_cost_value", unknown_cost_value);
+    move_parameter(plugin_nh, costmap_plugin_nh, "unknown_cost_value", unknown_cost_value);
-    move_parameter(priv_nh_2, target_layer, "lethal_cost_threshold", lethal_cost_threshold);
+    move_parameter(plugin_nh, costmap_plugin_nh, "lethal_cost_threshold", lethal_cost_threshold);
-    move_parameter(priv_nh_2, target_layer, "track_unknown_space", track_unknown_space);
+    move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
   }
   else if(plugin_type == "VoxelLayer")
   {
@@ -356,24 +356,23 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
     int mark_threshold;
     int unknown_threshold;
     bool publish_voxel_map;
-    move_parameter(priv_nh_2, target_layer, "origin_z", origin_z);
+    move_parameter(plugin_nh, costmap_plugin_nh, "origin_z", origin_z);
-    move_parameter(priv_nh_2, target_layer, "z_resolution", z_resolution);
+    move_parameter(plugin_nh, costmap_plugin_nh, "z_resolution", z_resolution);
-    move_parameter(priv_nh_2, target_layer, "z_voxels", z_voxels);
+    move_parameter(plugin_nh, costmap_plugin_nh, "z_voxels", z_voxels);
-    move_parameter(priv_nh_2, target_layer, "mark_threshold", mark_threshold);
+    move_parameter(plugin_nh, costmap_plugin_nh, "mark_threshold", mark_threshold);
-    move_parameter(priv_nh_2, target_layer, "unknown_threshold", unknown_threshold);
+    move_parameter(plugin_nh, costmap_plugin_nh, "unknown_threshold", unknown_threshold);
-    move_parameter(priv_nh_2, target_layer, "publish_voxel_map", publish_voxel_map);
+    move_parameter(plugin_nh, costmap_plugin_nh, "publish_voxel_map", publish_voxel_map);
-    if(priv_nh_2.hasParam("observation_sources"))
+    if(plugin_nh.hasParam("observation_sources"))
     {
       std::string topics_string;
-      move_parameter(priv_nh_2, target_layer, "observation_sources", topics_string);
+      move_parameter(plugin_nh, costmap_plugin_nh, "observation_sources", topics_string);
       robot::log_error("topics_string: %s", topics_string.c_str());
       std::stringstream ss(topics_string);
       std::string source;
       while (ss >> source)
       {
-        robot::NodeHandle priv_nh_3(priv_nh_2, source);
+        robot::NodeHandle plugin_nh_element(plugin_nh, source);
-        robot::NodeHandle target_layer_2(target_layer, source);
+        robot::NodeHandle costmap_plugin_nh_element(costmap_plugin_nh, source);
-        robot::log_warning("priv_nh_3: %s",priv_nh_3.getNamespace().c_str());
         std::string topic;
         std::string data_type;
         bool clearing;
@@ -381,15 +380,14 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
         bool inf_is_valid;
         double min_obstacle_height;
         double max_obstacle_height;
-        move_parameter(priv_nh_2, target_layer_2, "topic", topic);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
-        robot::log_error("topic: %s", topic.c_str());
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
-        move_parameter(priv_nh_2, target_layer_2, "data_type", data_type);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
-        move_parameter(priv_nh_2, target_layer_2, "clearing", clearing);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
-        move_parameter(priv_nh_2, target_layer_2, "marking", marking);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
-        move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
-        move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
-        move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height);
+        robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
-        target_layer_2.printParams();
       }
     }
   }
@@ -399,21 +397,21 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
     double raytrace_range;
     double obstacle_range;
     bool track_unknown_space;
-    move_parameter(priv_nh_2, target_layer, "max_obstacle_height", max_obstacle_height);
+    move_parameter(plugin_nh, costmap_plugin_nh, "max_obstacle_height", max_obstacle_height);
-    move_parameter(priv_nh_2, target_layer, "raytrace_range", raytrace_range);
+    move_parameter(plugin_nh, costmap_plugin_nh, "raytrace_range", raytrace_range);
-    move_parameter(priv_nh_2, target_layer, "obstacle_range", obstacle_range);
+    move_parameter(plugin_nh, costmap_plugin_nh, "obstacle_range", obstacle_range);
-    move_parameter(priv_nh_2, target_layer, "track_unknown_space", track_unknown_space);
+    move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
-    if(priv_nh_2.hasParam("observation_sources"))
+    if(plugin_nh.hasParam("observation_sources"))
     {
       std::string topics_string;
-      move_parameter(priv_nh_2, target_layer, "observation_sources", topics_string);
+      move_parameter(plugin_nh, costmap_plugin_nh, "observation_sources", topics_string);
       robot::log_error("topics_string: %s", topics_string.c_str());
       std::stringstream ss(topics_string);
       std::string source;
       while (ss >> source)
       {
-        robot::NodeHandle priv_nh_3(priv_nh_2, source);
+        robot::NodeHandle plugin_nh_element(plugin_nh, source);
-        robot::NodeHandle target_layer_2(target_layer, source);
+        robot::NodeHandle costmap_plugin_nh_element(costmap_plugin_nh, source);
         std::string topic;
         std::string data_type;
         bool clearing;
@@ -421,23 +419,23 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
         bool inf_is_valid;
         double min_obstacle_height;
         double max_obstacle_height;
-        move_parameter(priv_nh_2, target_layer_2, "topic", topic);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
-        move_parameter(priv_nh_2, target_layer_2, "data_type", data_type);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
-        move_parameter(priv_nh_2, target_layer_2, "clearing", clearing);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
-        move_parameter(priv_nh_2, target_layer_2, "marking", marking);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
-        move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
-        move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
-        move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height);
+        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
+        robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
       }
     }
-
   }
   else if(plugin_type == "InflationLayer")
   {
     double cost_scaling_factor;
     double inflation_radius;
-    move_parameter(priv_nh_2, target_layer, "cost_scaling_factor", cost_scaling_factor);
+    move_parameter(plugin_nh, costmap_plugin_nh, "cost_scaling_factor", cost_scaling_factor);
-    move_parameter(priv_nh_2, target_layer, "inflation_radius", inflation_radius);
+    move_parameter(plugin_nh, costmap_plugin_nh, "inflation_radius", inflation_radius);
   }
 
 }
@@ -696,7 +694,7 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
   }
   catch (tf3::ExtrapolationException& ex)
   {
-    robot::log_error("Costmap2DROBOT %s Extrapolation Error looking up robot pose: %s\n", name_.c_str(), ex.what());
+    // robot::log_error("Costmap2DROBOT %s Extrapolation Error looking up robot pose: %s\n", name_.c_str(), ex.what());
     return false;
   }
   // ROS_INFO_THROTTLE(1.0, "Time Delay %f , p %f %f", current_time.toSec() - global_pose.header.stamp.toSec(), global_pose.pose.position.x, global_pose.pose.position.y);