/*********************************************************************
 *
 * 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 <robot/console.h>
#include <cstdio>
#include <string>
#include <algorithm>
#include <vector>

#include <robot_costmap_2d/layered_costmap.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
#include <robot_costmap_2d/utils.h>

#include <tf3/convert.h>
#include <tf3/utils.h>
#include <exception>

#include <boost/dll/import.hpp>

using namespace std;

namespace robot_costmap_2d
{
template <class T>
void move_parameter(robot::NodeHandle& old_h, robot::NodeHandle& new_h, std::string name,T& value)
{
  if (!old_h.hasParam(name))
    return;

  old_h.getParam(name, value);
  new_h.setParam(name, value);
}

Costmap2DROBOT::Costmap2DROBOT(const std::string& name, tf3::BufferCore& tf) :
    layered_costmap_(NULL),
    name_(name),
    tf_(tf),
    transform_tolerance_(0.3),
    map_update_thread_shutdown_(false),
    stop_updates_(false),
    initialized_(true),
    stopped_(false),
    map_update_thread_(NULL),
    footprint_padding_(0.0)
{
  robot::NodeHandle nh("~");
  robot::NodeHandle priv_nh(nh, name);
  name_ = name;
  std::string config_file_name = "costmap_params.yaml";
  getParams(config_file_name, name_, nh);
 
  // create a thread to handle updating the map
  stop_updates_ = false;
  initialized_ = true;
  stopped_ = false;
}

void Costmap2DROBOT::getParams(const std::string& config_file_name,const std::string& name, robot::NodeHandle& nh)
{
  try 
  {
    const char *env_config = std::getenv("PNKX_NAV_CORE_CONFIG_DIR");
    std::string folder;
    if (env_config && std::filesystem::exists(env_config))
    {
      folder = std::string(env_config);
      // robot::log_error("config_directory: %s", folder.c_str());
    }
    std::string path_source = getSourceFile(folder,config_file_name);

    YAML::Node config = YAML::LoadFile(path_source);
    YAML::Node layer = config["robot_costmap_2d"];

    robot::NodeHandle priv_nh(priv_nh, name);

    std::string global_frame =
    loadParam(layer, "global_frame", std::string("map"));
    std::string robot_base_frame =
        loadParam(layer, "robot_base_frame", std::string("base_link"));

    if (priv_nh.hasParam("global_frame"))
      priv_nh.getParam("global_frame", global_frame);

    if (nh.hasParam("robot_base_frame"))
      nh.getParam("robot_base_frame", robot_base_frame);

    global_frame_ = global_frame;
    robot_base_frame_ = robot_base_frame;

    robot::Time last_error = robot::Time::now();
    std::string tf_error;
    
    // we need to make sure that the transform between the robot base frame and the global frame is available
    while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time(), &tf_error))
    {
      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());
        last_error = robot::Time::now();
      }
      // The error string will accumulate and errors will typically be the same, so the last
      // will do for the warning above. Reset the string here to avoid accumulation.
      tf_error.clear();
    }
  
    // check if we want a rolling window version of the costmap
    bool rolling_window = loadParam(layer, "rolling_window", false);
    bool track_unknown_space = loadParam(layer, "track_unknown_space", false);
    std::string path_plugins = loadParam(layer, "library_path", std::string(" "));

    robot::PluginLoaderHelper loader;
    

    if (priv_nh.hasParam("rolling_window"))
      priv_nh.getParam("rolling_window", rolling_window);

    if (priv_nh.hasParam("track_unknown_space"))
      priv_nh.getParam("track_unknown_space", track_unknown_space);

    if (priv_nh.hasParam("library_path"))
      path_plugins = loader.findLibraryPath(name_);
    layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space);

    // find size parameters
    double map_width_meters = loadParam(layer, "width", 0.0);
    double map_height_meters = loadParam(layer, "height", 0.0);
    double resolution = loadParam(layer, "resolution", 0.0);
    double origin_x = loadParam(layer, "origin_x", 0.0);
    double origin_y = loadParam(layer, "origin_y", 0.0);

    if (priv_nh.hasParam("width"))
      priv_nh.getParam("width", map_width_meters);
    if (priv_nh.hasParam("height"))
      priv_nh.getParam("height", map_height_meters);
    if (priv_nh.hasParam("resolution"))
      priv_nh.getParam("resolution", resolution);
    if (priv_nh.hasParam("origin_x"))
      priv_nh.getParam("origin_x", origin_x);
    if (priv_nh.hasParam("origin_y"))
      priv_nh.getParam("origin_y", origin_y);

    if (!layered_costmap_->isSizeLocked())
    {
      // robot::log_warning("ROBOT origin_x: %f | origin_y: %f", origin_x, origin_y);
      layered_costmap_->resizeMap((unsigned int)(map_width_meters / resolution),
                                  (unsigned int)(map_height_meters / resolution), resolution, origin_x, origin_y);
    }
    
    struct PluginConfig 
    {
      std::string name;
      std::string type;
    };
    std::vector<PluginConfig> my_list;
      
    if(priv_nh.hasParam("plugins"))
    {
      my_list.clear();
      YAML::Node my_plugins = priv_nh.getParamValue("plugins");
      if (my_plugins && my_plugins.IsSequence())
      {
        for (size_t i = 0; i < my_plugins.size(); ++i)
        {
          YAML::Node plugin_i = my_plugins[i].as<YAML::Node>();

          PluginConfig p;
          p.type = plugin_i["type"].as<std::string>();
          p.name = plugin_i["name"].as<std::string>();
          my_list.push_back(p);
          if (!plugin_i.IsMap())
          {
            std::cerr << "Plugins must be specified as maps. We'll use the default recovery behaviors instead." << std::endl;
            return;
          }
          
          if (!plugin_i["name"] || !plugin_i["type"])
          {
            std::cerr << "Plugins must have a name and a type. Using the default recovery behaviors instead." << std::endl;
            return;
          }
          
          // check for recovery behaviors with the same name
          std::string name_i = plugin_i["name"].as<std::string>();
          for (size_t j = i + 1; j < my_plugins.size(); ++j)
          {
            YAML::Node plugin_j = my_plugins[j].as<YAML::Node>();
            if (plugin_j.IsMap() && plugin_j["name"])
            {
              std::string name_j = plugin_j["name"].as<std::string>();
              if (name_i == name_j)
              {
                std::cerr << "A plugin with the name " << name_i << " already exists, this is not allowed. Using the default recovery behaviors instead." << std::endl;
                return;
              }
            }
          }
        }
      }
    }
    else
    {
      my_list.clear();
      if (layer["plugins"] && layer["plugins"].IsSequence()) 
      {
        for (const auto& plugin_node : layer["plugins"]) {
            PluginConfig p;
            p.name = loadParam(plugin_node, "name", std::string(" "));
            p.type = loadParam(plugin_node, "type", std::string(" "));
            my_list.push_back(p);
        }
      }
    }
    robot::NodeHandle private_nh("~");
    for (auto& info : my_list)
    {
      try
      {
        copyParentParameters(name_, info.name, info.type, private_nh);
        creators_.push_back(
          boost::dll::import_alias<PluginLayerPtr()>(
          path_plugins, info.type, boost::dll::load_mode::append_decorations)
        );
        PluginLayerPtr plugin = creators_.back()();
        std::cout << "Plugin created: " << info.name << std::endl;

        plugin->initialize(layered_costmap_,name_ + "/" + info.name, &tf_);
        layered_costmap_->addPlugin(plugin);
      }
      catch (std::exception &ex)
      {
        robot::log_error("Failed to create the %s, are you sure it is properly registered and that the containing library is built? Exception: %s\n", info.name.c_str(), ex.what());
        return;
      }
    }

    std::vector<robot_geometry_msgs::Point> new_footprint;// = loadParam(layer, "footprint", 0.0);
    new_footprint = loadFootprint(layer["footprint"], new_footprint);
    transform_tolerance_ = loadParam(layer, "transform_tolerance", 0.0);

    if (priv_nh.hasParam("footprint"))
    {
      std::cout <<"FOOTPRINT ROBOT:"<<std::endl;
      new_footprint = makeFootprintFromParams(priv_nh);
    }

    if (nh.hasParam("transform_tolerance"))
      nh.getParam("transform_tolerance", transform_tolerance_);
    // robot::log_info("transform_tolerance: %d", transform_tolerance_);
    
    setUnpaddedRobotFootprint(new_footprint);

    

    if (map_update_thread_ != NULL)
    {
      map_update_thread_shutdown_ = true;
      map_update_thread_->join();
      delete map_update_thread_;
      map_update_thread_ = NULL;
    }
    map_update_thread_shutdown_ = false;
    double map_update_frequency = loadParam(layer, "update_frequency", 0.0);

    if (priv_nh.hasParam("update_frequency"))
      priv_nh.getParam("update_frequency", map_update_frequency);

    // If the padding has changed, call setUnpaddedRobotFootprint() to
    // re-apply the padding.
    float footprint_padding = loadParam(layer, "footprint_padding", 0.0);
    if (nh.hasParam("footprint_padding"))
      nh.getParam("footprint_padding", footprint_padding);
    if (footprint_padding_ != footprint_padding)
    {
      footprint_padding_ = footprint_padding;
      setUnpaddedRobotFootprint(unpadded_footprint_);
    }

    double robot_radius = loadParam(layer, "robot_radius", 0.0);
    if (priv_nh.hasParam("robot_radius"))
      priv_nh.getParam("robot_radius", robot_radius);
    readFootprintFromConfig(new_footprint, unpadded_footprint_, robot_radius);

    // only construct the thread if the frequency is positive
    if(map_update_frequency > 0.0)
      map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROBOT::mapUpdateLoop, this, map_update_frequency));
  } 
  catch (const YAML::BadFile& e) 
  {
      std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
      return;
  }
}

void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name, 
                                          const std::string& plugin_name, 
                                          const std::string& plugin_type, 
                                          robot::NodeHandle& nh)
{
  robot::NodeHandle costmap_nh(nh, costmap_name);
  robot::NodeHandle costmap_plugin_nh(costmap_nh, plugin_name);
  robot::NodeHandle plugin_nh(nh, plugin_name);
  if(plugin_type == "StaticLayer")
  {
    std::string map_topic;
    int unknown_cost_value;
    int lethal_cost_threshold;
    bool track_unknown_space;
    move_parameter(plugin_nh, costmap_plugin_nh, "map_topic", map_topic);
    move_parameter(plugin_nh, costmap_plugin_nh, "unknown_cost_value", unknown_cost_value);
    move_parameter(plugin_nh, costmap_plugin_nh, "lethal_cost_threshold", lethal_cost_threshold);
    move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
  }
  else if(plugin_type == "VoxelLayer")
  {
    double origin_z;
    double z_resolution;
    int z_voxels;
    int mark_threshold;
    int unknown_threshold;
    bool publish_voxel_map;
    move_parameter(plugin_nh, costmap_plugin_nh, "origin_z", origin_z);
    move_parameter(plugin_nh, costmap_plugin_nh, "z_resolution", z_resolution);
    move_parameter(plugin_nh, costmap_plugin_nh, "z_voxels", z_voxels);
    move_parameter(plugin_nh, costmap_plugin_nh, "mark_threshold", mark_threshold);
    move_parameter(plugin_nh, costmap_plugin_nh, "unknown_threshold", unknown_threshold);
    move_parameter(plugin_nh, costmap_plugin_nh, "publish_voxel_map", publish_voxel_map);
    if(plugin_nh.hasParam("observation_sources"))
    {
      std::string 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 plugin_nh_element(plugin_nh, source);
        robot::NodeHandle costmap_plugin_nh_element(costmap_plugin_nh, source);
        std::string topic;
        std::string data_type;
        bool clearing;
        bool marking;
        bool inf_is_valid;
        std::string sensor_frame;
        double observation_persistence;
        double expected_update_rate;
        double min_obstacle_height;
        double max_obstacle_height;
        double obstacle_range;
        double raytrace_range;
        bool frustum_clearing_enabled = false;
        int frustum_clearing_pixel_step = 8;
        double frustum_min_range = 0.2;
        double frustum_max_range = 3.0;

        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "expected_update_rate", expected_update_rate);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_enabled", frustum_clearing_enabled);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
        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);
        robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
      }
    }
  }
  else if(plugin_type == "ObstacleLayer")
  {
    double max_obstacle_height;
    double raytrace_range;
    double obstacle_range;
    bool track_unknown_space;
    move_parameter(plugin_nh, costmap_plugin_nh, "max_obstacle_height", max_obstacle_height);
    move_parameter(plugin_nh, costmap_plugin_nh, "raytrace_range", raytrace_range);
    move_parameter(plugin_nh, costmap_plugin_nh, "obstacle_range", obstacle_range);
    move_parameter(plugin_nh, costmap_plugin_nh, "track_unknown_space", track_unknown_space);
    if(plugin_nh.hasParam("observation_sources"))
    {
      std::string 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 plugin_nh_element(plugin_nh, source);
        robot::NodeHandle costmap_plugin_nh_element(costmap_plugin_nh, source);
        std::string topic;
        std::string data_type;
        bool clearing;
        bool marking;
        bool inf_is_valid;
        std::string sensor_frame;
        double observation_persistence;
        double expected_update_rate;
        double min_obstacle_height;
        double max_obstacle_height;
        double obstacle_range;
        double raytrace_range;
        bool frustum_clearing_enabled = false;
        int frustum_clearing_pixel_step = 8;
        double frustum_min_range = 0.2;
        double frustum_max_range = 3.0;

        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "expected_update_rate", expected_update_rate);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "data_type", data_type);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "clearing", clearing);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "marking", marking);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "inf_is_valid", inf_is_valid);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "min_obstacle_height", min_obstacle_height);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_enabled", frustum_clearing_enabled);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
        move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
        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);
        robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
      }
    }
  }
  else if(plugin_type == "InflationLayer")
  {
    double cost_scaling_factor;
    double inflation_radius;
    move_parameter(plugin_nh, costmap_plugin_nh, "cost_scaling_factor", cost_scaling_factor);
    move_parameter(plugin_nh, costmap_plugin_nh, "inflation_radius", inflation_radius);
  }

}

void Costmap2DROBOT::setUnpaddedRobotFootprintPolygon(const robot_geometry_msgs::Polygon& footprint)
{ 
  setUnpaddedRobotFootprint(toPointVector(footprint));
}

Costmap2DROBOT::~Costmap2DROBOT()
{
  map_update_thread_shutdown_ = true;
  if (map_update_thread_ != NULL)
  {
    map_update_thread_->join();
    delete map_update_thread_;
  }

  delete layered_costmap_;
}


void Costmap2DROBOT::readFootprintFromConfig(const std::vector<robot_geometry_msgs::Point> &new_footprint,
                                           const std::vector<robot_geometry_msgs::Point> &old_footprint,
                                           const double &robot_radius)
{
  // Only change the footprint if footprint or robot_radius has
  // changed. 
  if(new_footprint.size() == old_footprint.size())
  {
    for(size_t i = 0; i < new_footprint.size(); i++)
    {
      if(new_footprint[i].x != old_footprint[i].x ||
         new_footprint[i].y != old_footprint[i].y ||
         new_footprint[i].z != old_footprint[i].z)
      {
        break;
      }
      if(i == (new_footprint.size()-1)) return;
    }
  }
  if (!new_footprint.empty())
  {
    setUnpaddedRobotFootprint(new_footprint);
  }
  else
  {
    // robot_radius may be 0, but that must be intended at this point.
    setUnpaddedRobotFootprint(makeFootprintFromRadius(robot_radius));
  }
}

void Costmap2DROBOT::setUnpaddedRobotFootprint(const std::vector<robot_geometry_msgs::Point>& points)
{
  unpadded_footprint_ = points;
  padded_footprint_ = points;
  padFootprint(padded_footprint_, footprint_padding_);

  layered_costmap_->setFootprint(padded_footprint_);
}

void Costmap2DROBOT::checkMovement()
{
    robot_geometry_msgs::PoseStamped new_pose;
    if (!getRobotPose(new_pose))
        std::cout << "Cannot get robot pose\n";
}

void Costmap2DROBOT::mapUpdateLoop(double frequency)
{
  std::cout << robot::Time::now().toNSec()<< " :Costmap2DROBOT::mapUpdateLoop updateMap\n";
  robot::Rate r(frequency);
  while (!map_update_thread_shutdown_)
  {
    updateMap();
    r.sleep();
    // make sure to sleep for the remainder of our cycle time
    if (r.cycleTime() > robot::Duration(1 / frequency))
      robot::log_warning("Map update %s loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds\n", name_.c_str(), frequency,
               r.cycleTime().toSec());
  }
}

void Costmap2DROBOT::updateMap()
{
  if (!stop_updates_)
  {
    // get global pose
    robot_geometry_msgs::PoseStamped pose;
    if (getRobotPose (pose))
    {
      double x = pose.pose.position.x,
             y = pose.pose.position.y,
             yaw = data_convert::getYaw(pose.pose.orientation);
      // robot::log_error("ROBOT POSE: %f | %f | %f",x,y,yaw);
      layered_costmap_->updateMap(x, y, yaw);
      
      footprint_.header.frame_id = global_frame_;
      footprint_.header.stamp = robot::Time::now();
      transformFootprint(x, y, yaw, padded_footprint_, footprint_);

      initialized_ = true;
    }
  }
}


void Costmap2DROBOT::start()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::start");
  std::vector < PluginLayerPtr> *plugins = layered_costmap_->getPlugins();
  // check if we're stopped or just paused
  if (stopped_)
  {
    // if we're stopped we need to re-subscribe to topics
    for (vector<PluginLayerPtr>::iterator plugin = plugins->begin(); plugin != plugins->end();
        ++plugin)
    {
      (*plugin)->activate();
    }
    stopped_ = false;
  }
  stop_updates_ = false;

  // block until the costmap is re-initialized.. meaning one update cycle has run
  // note: this does not hold, if the user has disabled map-updates allgother
  robot::Time start_time = robot::Time::now();
  robot::Rate r(100.0);
  while (!initialized_ && map_update_thread_)
  {
    if (robot::Time::now() - start_time > robot::Duration(5.0))
    {
      robot::log_warning_throttle(3.0, "Costmap2DROBOT::start() timed out waiting for costmap to initialize or map_update_thread\n");
      break;
    }
    r.sleep();
  }
}

void Costmap2DROBOT::stop()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::stop");
  stop_updates_ = true;
  std::vector <PluginLayerPtr> *plugins = layered_costmap_->getPlugins();
  // unsubscribe from topics
  for (vector<PluginLayerPtr>::iterator plugin = plugins->begin(); plugin != plugins->end();
      ++plugin)
  {
    (*plugin)->deactivate();
  }
  initialized_ = false;
  stopped_ = true;
}

void Costmap2DROBOT::pause()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::pause");
  stop_updates_ = true;
  initialized_ = false;
}

void Costmap2DROBOT::resume()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::resume");
  stop_updates_ = false;

  // block until the costmap is re-initialized.. meaning one update cycle has run
  robot::Time start_time = robot::Time::now();
  robot::Rate r(100.0);
  while (!initialized_)
  {
    if (robot::Time::now() - start_time > robot::Duration(5.0))
    {
      robot::log_warning("Costmap2DROBOT::resume() timed out waiting for costmap to initialize\n");
      break;
    }
    r.sleep();
  }
    
}


void Costmap2DROBOT::resetLayers()
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::resetLayers");
  Costmap2D* top = layered_costmap_->getCostmap();
  top->resetMap(0, 0, top->getSizeInCellsX(), top->getSizeInCellsY());
  std::vector <PluginLayerPtr> *plugins = layered_costmap_->getPlugins();
  for (vector<PluginLayerPtr>::iterator plugin = plugins->begin(); plugin != plugins->end();
      ++plugin)
  {
    (*plugin)->reset();
  }
}

bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose) const
{
  robot_geometry_msgs::PoseStamped robot_pose;
  robot_geometry_msgs::Pose pose_default;
  pose_default.orientation.x = 0;
  pose_default.orientation.y = 0;
  pose_default.orientation.z = 0;
  pose_default.orientation.w = 1;
  pose_default.position.x = 0;
  pose_default.position.y = 0;
  pose_default.position.z = 0;
  global_pose.pose = pose_default;
  robot_pose.pose = pose_default;

  robot_pose.header.frame_id = robot_base_frame_;
  robot_pose.header.stamp = robot::Time();
  robot::Time current_time = robot::Time::now();  // save time for checking tf delay later

  // get the global pose of the robot
  try
  {
    // use current time if possible (makes sure it's not in the future)
    if (tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time()))
    {
      tf3::TransformStampedMsg transform = tf_.lookupTransform(global_frame_, robot_base_frame_,tf3::Time());
      tf3::doTransform(robot_pose, global_pose, transform);
      // robot::log_error("%s ||| %f | %f | %f ||| %f | %f | %f | %f", transform.child_frame_id.c_str(),
      // global_pose.pose.position.x,
      // global_pose.pose.position.y,
      // global_pose.pose.position.z,
      // global_pose.pose.orientation.x,
      // global_pose.pose.orientation.y,
      // global_pose.pose.orientation.z,
      // global_pose.pose.orientation.w);
      // transform.transform.rotation.x,
      // transform.transform.rotation.y,
      // transform.transform.rotation.z,
      // transform.transform.rotation.w);
    }
    // use the latest otherwise
    else
    {
      // tf_.transform(robot_pose, global_pose, global_frame_);
      tf3::TransformStampedMsg transform = tf_.lookupTransform(
                    global_frame_,                      // frame đích
                    robot_base_frame_,                      // frame nguồn
                    tf3::Time()
                );
      tf3::doTransform(robot_pose, global_pose, transform);
    }
  }
  catch (tf3::LookupException& ex)
  {
    robot::log_error("Costmap2DROBOT %s No Transform available Error looking up robot pose: %s\n", name_.c_str(), ex.what());
    return false;
  }
  catch (tf3::ConnectivityException& ex)
  {
    robot::log_error("Costmap2DROBOT %s Connectivity Error looking up robot pose: %s\n", name_.c_str(), ex.what());
    return false;
  }
  catch (tf3::ExtrapolationException& ex)
  {
    // 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);
  // check global_pose timeout
  if (!global_pose.header.stamp.isZero() && current_time.toSec() - global_pose.header.stamp.toSec() > transform_tolerance_)
  {
    robot::log_warning("Costmap2DROBOT %s transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f\n", name_.c_str(),
            current_time.toSec(), global_pose.header.stamp.toSec(), transform_tolerance_);
    return false;
  }

  return true;
}

void Costmap2DROBOT::getOrientedFootprint(std::vector<robot_geometry_msgs::Point>& oriented_footprint) const
{
  // if(name_.find("global_costmap")) ROS_WARN("Costmap2DROBOT::getOrientedFootprint");
  robot_geometry_msgs::PoseStamped global_pose;
  if (!getRobotPose(global_pose))
    return;

  double yaw = data_convert::getYaw(global_pose.pose.orientation);
  transformFootprint(global_pose.pose.position.x, global_pose.pose.position.y, yaw,
                     padded_footprint_, oriented_footprint);
}

}  // namespace robot_costmap_2d