472 lines
19 KiB
C++
472 lines
19 KiB
C++
#include <boost/dll/import.hpp>
|
||
#include <iostream>
|
||
#include <costmap_2d/costmap_layer.h>
|
||
#include <costmap_2d/layered_costmap.h>
|
||
#include <tf2/buffer_core.h>
|
||
#include <tf2/time.h>
|
||
#include "nav_msgs/OccupancyGrid.h"
|
||
#include <map_msgs/OccupancyGridUpdate.h>
|
||
#include <costmap_2d/obstacle_layer.h>
|
||
#include <costmap_2d/inflation_layer.h>
|
||
#include <costmap_2d/critical_layer.h>
|
||
#include <costmap_2d/preferred_layer.h>
|
||
using namespace costmap_2d;
|
||
|
||
int main(int argc, char* argv[]) {
|
||
|
||
std::string global_frame = "map";
|
||
bool rolling_window = false;
|
||
bool track_unknown = false;
|
||
LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
|
||
|
||
// ✅ FIX 1: RESIZE costmap TRƯỚC KHI sử dụng
|
||
// Costmap mặc định có size = 0x0, resolution = 0.0 -> sẽ gây crash
|
||
layered_costmap.resizeMap(
|
||
100, // size_x: số ô theo chiều X
|
||
100, // size_y: số ô theo chiều Y
|
||
0.05, // resolution: 0.05m/ô (5cm)
|
||
0.0, // origin_x
|
||
0.0, // origin_y
|
||
false // size_locked
|
||
);
|
||
std::cout << "Costmap resized to: "
|
||
<< layered_costmap.getCostmap()->getSizeInCellsX()
|
||
<< "x" << layered_costmap.getCostmap()->getSizeInCellsY()
|
||
<< ", resolution: " << layered_costmap.getCostmap()->getResolution()
|
||
<< "m/cell" << std::endl;
|
||
|
||
tf2::BufferCore tf_buffer;
|
||
|
||
// // ✅ FIX 2: Lưu tất cả plugins để tránh bị destroy
|
||
// std::vector<costmap_2d::PluginLayerPtr> plugin_instances;
|
||
|
||
// // // ✅ FIX 3: Load và add static_layer
|
||
// // auto creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// // "./costmap_2d/libstatic_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// // );
|
||
// // costmap_2d::PluginLayerPtr plugin1 = creator();
|
||
// // std::cout << "Plugin created static_layer successfully" << std::endl;
|
||
// // plugin1->initialize(&layered_costmap, "static_layer", &tf_buffer);
|
||
// // layered_costmap.addPlugin(plugin1); // ✅ FIX: ADD vào LayeredCostmap
|
||
// // plugin_instances.push_back(plugin1); // ✅ FIX: Lưu lại để tránh bị destroy
|
||
// // std::cout << "Static layer initialized and added. Use count: " << plugin1.use_count() << std::endl;
|
||
|
||
|
||
// // // ✅ FIX 5: Load và add obstacle_layer
|
||
// // auto creator2 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// // "./costmap_2d/libobstacle_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// // );
|
||
// // costmap_2d::PluginLayerPtr plugin3 = creator2();
|
||
// // std::cout << "Plugin created obstacle_layer successfully" << std::endl;
|
||
// // plugin3->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);
|
||
// // layered_costmap.addPlugin(plugin3); // ✅ FIX: ADD vào LayeredCostmap
|
||
// // plugin_instances.push_back(plugin3); // ✅ FIX: Lưu lại
|
||
// // std::cout << "Obstacle layer initialized and added. Use count: " << plugin3.use_count() << std::endl;
|
||
|
||
|
||
// // ✅ FIX 4: Load và add inflation_layer
|
||
// auto creator1 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libinflation_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin2 = creator1();
|
||
// std::cout << "✅ Plugin created inflation_layer successfully" << std::endl;
|
||
// plugin2->initialize(&layered_costmap, "inflation_layer", &tf_buffer);
|
||
// plugin2->onFootprintChanged(); // ✅ FIX: Cần gọi cho inflation_layer
|
||
// layered_costmap.addPlugin(plugin2); // ✅ FIX: ADD vào LayeredCostmap
|
||
// plugin_instances.push_back(plugin2); // ✅ FIX: Lưu lại
|
||
// std::cout << "Inflation layer initialized and added. Use count: " << plugin2.use_count() << std::endl;
|
||
|
||
// auto creator3 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libpreferred_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin4 = creator3();
|
||
// std::cout << "Plugin created preferred_layer successfully" << std::endl;
|
||
// plugin4->initialize(&layered_costmap, "preferred_layer", &tf_buffer);
|
||
// layered_costmap.addPlugin(plugin4); // ✅ FIX: ADD vào LayeredCostmap
|
||
// plugin_instances.push_back(plugin4); // ✅ FIX: Lưu lại
|
||
|
||
|
||
// // ✅ Kiểm tra số lượng plugins
|
||
// std::cout << "Total plugins added: " << layered_costmap.getPlugins()->size() << std::endl;
|
||
|
||
// // ✅ Test updateMap (nếu cần)
|
||
// // layered_costmap.updateMap(0.0, 0.0, 0.0); // robot_x, robot_y, robot_yaw
|
||
|
||
// std::cout << "All plugins initialized and added successfully!" << std::endl;
|
||
|
||
// // ✅ FIX: Xóa reference đến layered_costmap trong các plugins trước khi destroy
|
||
// // Để tránh destructor của plugin cố gắng truy cập layered_costmap đã bị destroy
|
||
// // for (auto& plugin : plugin_instances) {
|
||
// // // Reset pointer để tránh truy cập vào object đã bị destroy
|
||
// // // Lưu ý: Cần kiểm tra xem Layer có hàm reset pointer không
|
||
// // // Nếu không có, cần thêm vào Layer class
|
||
// // }
|
||
|
||
// // ✅ FIX: Clear plugin_instances TRƯỚC KHI layered_costmap bị destroy
|
||
// // Thứ tự destroy: plugin_instances -> plugins (trong shared_ptr) -> destructor của plugin
|
||
// plugin_instances.clear();
|
||
// std::cout << "Plugin instances cleared" << std::endl;
|
||
// // std::cout << "=== Costmap Plugin Test ===" << std::endl;
|
||
|
||
// // // 1️⃣ Khởi tạo LayeredCostmap
|
||
// // std::string global_frame = "map";
|
||
// // bool rolling_window = true;
|
||
// // bool track_unknown = true;
|
||
// // LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
|
||
|
||
// // // ✅ Resize map trước khi init plugin
|
||
// // layered_costmap.resizeMap(
|
||
// // 100, // size_x
|
||
// // 100, // size_y
|
||
// // 0.05, // resolution (m/cell)
|
||
// // 0.0, // origin_x
|
||
// // 0.0, // origin_y
|
||
// // false // size_locked
|
||
// // );
|
||
|
||
// // std::cout << "Costmap resized to: "
|
||
// // << layered_costmap.getCostmap()->getSizeInCellsX()
|
||
// // << "x" << layered_costmap.getCostmap()->getSizeInCellsY()
|
||
// // << ", resolution: " << layered_costmap.getCostmap()->getResolution()
|
||
// // << " m/cell" << std::endl;
|
||
|
||
// // // 2️⃣ TF buffer
|
||
// // tf2::BufferCore tf_buffer;
|
||
|
||
// // // 3️⃣ Thiết lập footprint robot trước khi load inflation_layer
|
||
// // std::vector<geometry_msgs::Point> footprint = {
|
||
// // {0.1, 0.1, 0.0},
|
||
// // {0.1, -0.1, 0.0},
|
||
// // {-0.1, -0.1, 0.0},
|
||
// // {-0.1, 0.1, 0.0}
|
||
// // };
|
||
// // // layered_costmap.setUnpaddedRobotFootprint(footprint);
|
||
|
||
// 4️⃣ Danh sách plugin để load (thứ tự an toàn)
|
||
struct PluginInfo { std::string path; std::string name; };
|
||
std::vector<PluginInfo> plugins_to_load = {
|
||
{"./costmap_2d/libstatic_layer.so", "static_layer"},
|
||
{"./costmap_2d/libinflation_layer.so", "inflation_layer"},
|
||
{"./costmap_2d/libobstacle_layer.so", "obstacle_layer"},
|
||
{"./costmap_2d/libpreferred_layer.so", "preferred_layer"}
|
||
};
|
||
|
||
// // // 5️⃣ Vector lưu shared_ptr plugin
|
||
std::vector<PluginLayerPtr> plugin_instances;
|
||
|
||
for (auto& info : plugins_to_load)
|
||
{
|
||
auto creator = boost::dll::import_alias<PluginLayerPtr()>(
|
||
info.path, "create_plugin", boost::dll::load_mode::append_decorations
|
||
);
|
||
|
||
PluginLayerPtr plugin = creator();
|
||
std::cout << "Plugin created: " << info.name << std::endl;
|
||
|
||
plugin->initialize(&layered_costmap, info.name, &tf_buffer);
|
||
|
||
// Nếu là inflation_layer, cần gọi onFootprintChanged()
|
||
if(info.name == "inflation_layer")
|
||
{
|
||
plugin->onFootprintChanged();
|
||
std::cout << "Inflation layer footprint updated." << std::endl;
|
||
}
|
||
|
||
plugin_instances.push_back(plugin);
|
||
layered_costmap.addPlugin(plugin);
|
||
std::cout << info.name << " initialized, use_count=" << plugin.use_count() << std::endl;
|
||
}
|
||
|
||
std::cout << "All plugins loaded successfully." << std::endl;
|
||
|
||
// 6️⃣ Test update map với dummy grid
|
||
// nav_msgs::OccupancyGrid grid;
|
||
// grid.info.width = 10;
|
||
// grid.info.height = 10;
|
||
// grid.info.resolution = 0.05;
|
||
// grid.data.resize(grid.info.width * grid.info.height, 0); // free space
|
||
|
||
// for(auto& plugin : plugin_instances)
|
||
// {
|
||
// plugin->dataCallBack(grid, "map");
|
||
// }
|
||
|
||
// std::cout << "Map update simulated." << std::endl;
|
||
|
||
// // // 7️⃣ Clear plugin_instances trước khi LayeredCostmap bị destroy
|
||
// // plugin_instances.clear();
|
||
// // std::cout << "Plugin instances cleared safely." << std::endl;
|
||
|
||
// // return 0;
|
||
|
||
// auto creator1 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libobstacle_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin1 = creator1();
|
||
// std::cout << "Plugin created obstacle_layer successfully" << std::endl;
|
||
// plugin1->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);
|
||
// layered_costmap.addPlugin(plugin1);
|
||
|
||
|
||
// auto creator2 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libstatic_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin2 = creator2();
|
||
// std::cout << "Plugin created static_layer successfully" << std::endl;
|
||
// plugin2->initialize(&layered_costmap, "static_layer", &tf_buffer);
|
||
// layered_costmap.addPlugin(plugin2);
|
||
|
||
|
||
// auto creator3 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libinflation_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin3 = creator3();
|
||
// std::cout << "Plugin created inflation_layer successfully" << std::endl;
|
||
// plugin3->initialize(&layered_costmap, "inflation_layer", &tf_buffer);
|
||
// layered_costmap.addPlugin(plugin3);
|
||
|
||
// auto creator4 = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libpreferred_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin4 = creator4();
|
||
// std::cout << "Plugin created preferred_layer successfully" << std::endl;
|
||
// plugin4->initialize(&layered_costmap, "preferred_layer", &tf_buffer);
|
||
// layered_costmap.addPlugin(plugin4);
|
||
|
||
// while(true)
|
||
// {
|
||
robot::Duration(10).sleep();
|
||
// }
|
||
|
||
return 0;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// auto creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libobstacle_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// costmap_2d::PluginLayerPtr plugin = creator();
|
||
// std::cout << "Plugin created obstacle_layer successfully" << std::endl;
|
||
// plugin->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);
|
||
|
||
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libstatic_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created static_layer successfully" << std::endl;
|
||
// plugin->initialize(&layered_costmap, "static_layer", &tf_buffer);
|
||
|
||
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libinflation_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created inflation_layer successfully" << std::endl;
|
||
// plugin->initialize(&layered_costmap, "inflation_layer", &tf_buffer);
|
||
|
||
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libpreferred_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created preferred_layer successfully" << std::endl;
|
||
// plugin->initialize(&layered_costmap, "preferred_layer", &tf_buffer);
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// #include <boost/dll/import.hpp>
|
||
// #include <iostream>
|
||
// #include <costmap_2d/costmap_layer.h>
|
||
// #include <costmap_2d/layered_costmap.h>
|
||
// #include <tf2/buffer_core.h>
|
||
// #include <tf2/time.h>
|
||
// #include "nav_msgs/OccupancyGrid.h"
|
||
// #include <map_msgs/OccupancyGridUpdate.h>
|
||
// #include <costmap_2d/obstacle_layer.h>
|
||
// #include <costmap_2d/inflation_layer.h>
|
||
// #include <costmap_2d/critical_layer.h>
|
||
// #include <costmap_2d/preferred_layer.h>
|
||
// using namespace costmap_2d;
|
||
|
||
// int main(int argc, char* argv[]) {
|
||
|
||
// auto creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libstatic_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
|
||
// costmap_2d::PluginLayerPtr plugin = creator();
|
||
// std::cout << "Plugin created static_layer successfully" << std::endl;
|
||
|
||
// std::string global_frame = "map";
|
||
// bool rolling_window = true;
|
||
// bool track_unknown = true;
|
||
// LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
|
||
|
||
// tf2::BufferCore tf_buffer;
|
||
// // tf2::Duration cache_time(10.0);
|
||
// // tf2::BufferCore tf_buffer(cache_time);
|
||
|
||
// plugin->initialize(&layered_costmap, "static_layer", &tf_buffer);
|
||
|
||
// std::cout << "Plugin initialized" << std::endl;
|
||
|
||
// // plugin->activate();
|
||
// nav_msgs::OccupancyGrid grid;
|
||
|
||
// grid.info.resolution = 0.05f;
|
||
// grid.info.width = 2;
|
||
// grid.info.height = 2;
|
||
|
||
// grid.data.resize(grid.info.width * grid.info.height, -1);
|
||
// grid.data[0] = 0;
|
||
// grid.data[1] = 100;
|
||
// grid.data[2] = 10;
|
||
// grid.data[3] = 0;
|
||
// plugin->dataCallBack(grid, "map");
|
||
|
||
// map_msgs::OccupancyGridUpdate update;
|
||
|
||
// update.x = 1;
|
||
// update.y = 1;
|
||
// update.width = 2;
|
||
// update.height = 2;
|
||
|
||
// update.data.resize(update.width * update.height, -1);
|
||
// update.data[0] = 0;
|
||
// update.data[1] = 100;
|
||
// update.data[2] = 10;
|
||
// update.data[3] = 0;
|
||
// plugin->dataCallBack(update, "map_update");
|
||
|
||
|
||
// // creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// // "./costmap_2d/libobstacle_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// // );
|
||
|
||
// // plugin = creator();
|
||
// // std::cout << "Plugin created obstacle_layer successfully" << std::endl;
|
||
|
||
// // plugin->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);
|
||
|
||
// // sensor_msgs::LaserScan scan;
|
||
|
||
// // // --- Header ---
|
||
// // scan.header.seq = 1;
|
||
// // scan.header.stamp = robot::Time::now(); // nếu bạn chưa có Time class, gán tạm số
|
||
// // scan.header.frame_id = "laser_frame";
|
||
|
||
// // // --- Cấu hình góc ---
|
||
// // scan.angle_min = -M_PI; // -180 độ
|
||
// // scan.angle_max = M_PI; // +180 độ
|
||
// // scan.angle_increment = M_PI / 180; // 1 độ mỗi tia
|
||
|
||
// // // --- Cấu hình thời gian ---
|
||
// // scan.time_increment = 0.0001f; // mỗi tia cách nhau 0.1 ms
|
||
// // scan.scan_time = 0.04f; // tổng thời gian quét 40 ms (~25Hz)
|
||
|
||
// // // --- Giới hạn đo ---
|
||
// // scan.range_min = 0.1f;
|
||
// // scan.range_max = 10.0f;
|
||
|
||
// // // --- Tạo dữ liệu ---
|
||
// // int num_readings = static_cast<int>((scan.angle_max - scan.angle_min) / scan.angle_increment);
|
||
// // scan.ranges.resize(num_readings);
|
||
// // scan.intensities.resize(num_readings);
|
||
|
||
// // for (int i = 0; i < num_readings; ++i)
|
||
// // {
|
||
// // float angle = scan.angle_min + i * scan.angle_increment;
|
||
|
||
// // // Tạo dữ liệu giả lập: vật thể cách 2m, dao động nhẹ theo góc
|
||
// // scan.ranges[i] = 2.0f + 0.2f * std::sin(3.0f * angle);
|
||
|
||
// // // Giả lập cường độ phản xạ
|
||
// // scan.intensities[i] = 100.0f + 20.0f * std::cos(angle);
|
||
// // }
|
||
|
||
// // // --- In thử 10 giá trị đầu ---
|
||
// // // for (int i = 0; i < 10; ++i)
|
||
// // // {
|
||
// // // std::cout << "Angle " << (scan.angle_min + i * scan.angle_increment)
|
||
// // // << " rad | Range " << scan.ranges[i]
|
||
// // // << " m | Intensity " << scan.intensities[i]
|
||
// // // << std::endl;
|
||
// // // }
|
||
// // // plugin->deactivate();
|
||
// // plugin->dataCallBack(scan, "laser_valid");
|
||
|
||
// // sensor_msgs::PointCloud cloud;
|
||
|
||
// // // 2. Thiết lập header
|
||
// // cloud.header.stamp.sec = 1234567890; // hoặc ros::Time::now().sec
|
||
// // cloud.header.stamp.nsec = 0;
|
||
// // cloud.header.frame_id = "laser_frame";
|
||
|
||
// // // 3. Thêm một vài điểm
|
||
// // geometry_msgs::Point32 pt1;
|
||
// // pt1.x = 1.0f; pt1.y = 0.0f; pt1.z = 0.0f;
|
||
|
||
// // geometry_msgs::Point32 pt2;
|
||
// // pt2.x = 0.0f; pt2.y = 1.0f; pt2.z = 0.0f;
|
||
|
||
// // geometry_msgs::Point32 pt3;
|
||
// // pt3.x = 1.0f; pt3.y = 1.0f; pt3.z = 0.0f;
|
||
|
||
// // cloud.points.push_back(pt1);
|
||
// // cloud.points.push_back(pt2);
|
||
// // cloud.points.push_back(pt3);
|
||
|
||
// // // 4. Thêm dữ liệu channels (tùy chọn)
|
||
// // cloud.channels.resize(1);
|
||
// // cloud.channels[0].name = "intensity";
|
||
// // cloud.channels[0].values.push_back(0.5f);
|
||
// // cloud.channels[0].values.push_back(1.0f);
|
||
// // cloud.channels[0].values.push_back(0.8f);
|
||
|
||
// // plugin->dataCallBack(cloud, "pcl_cb");
|
||
|
||
// std::cout << "Plugin activated successfully" << std::endl;
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libinflation_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created inflation_layer successfully" << std::endl;
|
||
|
||
// plugin->initialize(&layered_costmap, "inflation_layer", &tf_buffer);
|
||
// plugin->onFootprintChanged();
|
||
|
||
// std::cout << "Plugin initialized" << std::endl;
|
||
|
||
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libpreferred_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created preferred_layer successfully" << std::endl;
|
||
|
||
// plugin->initialize(&layered_costmap, "preferred_layer", &tf_buffer);
|
||
// plugin->dataCallBack(grid, "map");
|
||
|
||
|
||
// creator = boost::dll::import_alias<costmap_2d::PluginLayerPtr()>(
|
||
// "./costmap_2d/libobstacle_layer.so", "create_plugin", boost::dll::load_mode::append_decorations
|
||
// );
|
||
|
||
// plugin = creator();
|
||
// std::cout << "Plugin created obstacle_layer successfully" << std::endl;
|
||
|
||
// plugin->initialize(&layered_costmap, "obstacle_layer", &tf_buffer);
|
||
|
||
// std::cout << "Plugin initialized" << std::endl;
|
||
// }
|