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5ad8e83761
costmap_2d/plugins/directional_layer.cpp
duongtd 5ad8e83761 remove file data_convert
2025-11-26 16:27:41 +07:00

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#include <costmap_2d/directional_layer.h>
#include <data_convert/data_convert.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <boost/dll/alias.hpp>
#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
using costmap_2d::CRITICAL_SPACE;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::NO_INFORMATION;
namespace costmap_2d
{
DirectionalLayer::DirectionalLayer()
{
// ros::NodeHandle nh("~/" + name_);
// lane_mask_pub_ = nh.advertise<nav_msgs::OccupancyGrid>("/direction_zones/lanes", 1);
}
DirectionalLayer::~DirectionalLayer() {}
bool DirectionalLayer::laneFilter(const std::vector<geometry_msgs::PoseStamped> plan)
{
if (directional_areas_.empty())
throw "Has no map data";
nav_msgs::Path path;
path.header.stamp = robot::Time::now();
path.header.frame_id = map_frame_;
path.poses = plan;
return this->laneFilter(directional_areas_, path);
}
void DirectionalLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
{
if(!map_shutdown_)
{
unsigned int size_x = new_map.info.width, size_y = new_map.info.height;
printf("Received a %d X %d map at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
// resize costmap if size, resolution or origin do not match
Costmap2D *master = layered_costmap_->getCostmap();
if (!layered_costmap_->isRolling() &&
(master->getSizeInCellsX() != size_x / 2 ||
master->getSizeInCellsY() != size_y / 2 ||
master->getResolution() != new_map.info.resolution ||
master->getOriginX() != new_map.info.origin.position.x ||
master->getOriginY() != new_map.info.origin.position.y))
{
// Update the size of the layered costmap (and all layers, including this one)
printf("Resizing costmap to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
layered_costmap_->resizeMap(size_x / 2, size_y / 2, new_map.info.resolution, new_map.info.origin.position.x,
new_map.info.origin.position.y,
true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
}
else if (size_x_ != size_x / 2 || size_y_ != size_y / 2 ||
resolution_ != new_map.info.resolution ||
origin_x_ != new_map.info.origin.position.x ||
origin_y_ != new_map.info.origin.position.y)
{
// only update the size of the costmap stored locally in this layer
printf("Resizing static layer to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
resizeMap(size_x / 2, size_y / 2, new_map.info.resolution,
new_map.info.origin.position.x, new_map.info.origin.position.y);
}
unsigned char values[4];
directional_areas_.clear();
directional_areas_.resize(size_x / 2 * size_y / 2);
// initialize the costmap with static data
for (unsigned int iy = 0; iy < size_y; iy += 2)
{
for (unsigned int ix = 0; ix < size_x; ix += 2)
{
values[0] = new_map.data[MAP_IDX(size_x, ix, iy)];
values[1] = new_map.data[MAP_IDX(size_x, ix + 1, iy)];
values[2] = new_map.data[MAP_IDX(size_x, ix, iy + 1)];
values[3] = new_map.data[MAP_IDX(size_x, ix + 1, iy + 1)];
uint32_t color_avg = (uint32_t)(values[0] | values[1] << 8u | values[2] << 16u | values[3] << 24u);
int index = getIndex(ix / 2, iy / 2);
directional_areas_[index][0] = (uint16_t)(color_avg & 0xfff);
directional_areas_[index][1] = (uint16_t)(color_avg >> 12u);
costmap_[index] = costmap_2d::NO_INFORMATION;
}
}
map_frame_ = new_map.header.frame_id;
// we have a new map, update full size of map
x_ = y_ = 0;
width_ = size_x_;
height_ = size_y_;
map_received_ = true;
has_updated_data_ = true;
new_map_.header = new_map.header;
new_map_.header.stamp = robot::Time::now();
new_map_.info = new_map.info;
new_map_.info.width = width_;
new_map_.info.height = height_;
}
else
{
printf("Stop receive new map!\n");
}
// shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_)
{
printf("Shutting down the map subscriber. first_map_only flag is on\n");
map_shutdown_ = true;
// map_sub_.shutdown();
}
}
bool DirectionalLayer::laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const nav_msgs::Path path)
{
boost::unique_lock<mutex_t> lock(*layered_costmap_->getCostmap()->getMutex());
if (new_map.empty())
return false;
std::vector<std::pair<unsigned int, double>> X_List, Y_List;
std::vector<double> Yaw_list;
const geometry_msgs::PoseStamped &e = path.poses.back();
bool get_success = getRobotPose(pose_x_, pose_y_, pose_yaw_);
if(!get_success) return false;
for (auto it = path.poses.begin(); it != path.poses.end(); ++it)
{
const geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator
unsigned int mx, my;
if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my))
{
printf("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y);
return false;
}
// Convert to yaw
tf3::Quaternion quaternion = data_convert::convertQuaternion(p.pose.orientation);
double theta = tf3::getYaw(quaternion);
unsigned char value = laneFilter(mx, my, theta);
if (get_success)
{
if (
(!inSkipErea(pose_x_, pose_y_, p.pose.position.x, p.pose.position.y, distance_skip_) &
!inSkipErea(p.pose.position.x, p.pose.position.y, e.pose.position.x, e.pose.position.y, distance_skip_))
|| p == path.poses.back()
)
{
if (value == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || value == costmap_2d::LETHAL_OBSTACLE)
{
std::pair<unsigned int, double> x_val(mx, p.pose.position.x);
std::pair<unsigned int, double> y_val(my, p.pose.position.y);
X_List.push_back(x_val);
Y_List.push_back(y_val);
Yaw_list.push_back(theta);
// costmap_[getIndex(mx, my)] = value;
}
}
}
}
if (!Yaw_list.empty())
{
laneFilter(X_List, Y_List, Yaw_list);
nav_msgs::OccupancyGrid lanes;
convertToMap(costmap_, lanes, 0.65, 0.196);
//////////////////////////////////
//////////////////////////////////
/////////THAY THẾ PUBLISH////////
// lane_mask_pub_.publish(lanes);
//////////////////////////////////
//////////////////////////////////
//////////////////////////////////
return false;
}
return true;
}
void DirectionalLayer::convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th)
{
dir_map.header = new_map_.header;
dir_map.header.stamp = robot::Time::now();
dir_map.info = new_map_.info;
int size_costmap = new_map_.info.width * new_map_.info.height;
dir_map.data.resize(size_costmap);
for (int i = 0; i < size_costmap; i++)
{
int8_t value;
if (costmap[i] == costmap_2d::NO_INFORMATION)
{
value = -1;
}
else
{
double occ = (costmap[i]) / 255.0;
if (occ > occ_th)
value = +100;
else if (occ < free_th)
value = 0;
else
{
double ratio = (occ - free_th) / (occ_th - free_th);
value = 1 + 98 * ratio;
}
}
dir_map.data[i] = value;
}
}
unsigned char DirectionalLayer::laneFilter(unsigned int x, unsigned int y, double yaw_robot)
{
double yaw_lane;
unsigned char cost = costmap_2d::NO_INFORMATION;
int index = getIndex(x, y);
for (auto &lane : directional_areas_[index])
{
if (lane > 359)
{
cost = std::min(cost, costmap_2d::NO_INFORMATION);
}
else
{
double yaw_lane = (double)lane / 180 * M_PI;
if (0.4 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= 1.0)
cost = std::min(cost, costmap_2d::FREE_SPACE);
else if (-1.0 <= cos(yaw_robot - yaw_lane) && cos(yaw_robot - yaw_lane) <= -0.4)
cost = std::min(cost, costmap_2d::LETHAL_OBSTACLE);
else
cost = std::min(cost, costmap_2d::NO_INFORMATION);
}
}
return cost;
}
void DirectionalLayer::laneFilter(std::vector<std::pair<unsigned int, double>> x,
std::vector<std::pair<unsigned int, double>> y,
std::vector<double> yaw_robot)
{
if(x.empty() || y.empty() || yaw_robot.empty())
return;
unsigned int x_min, y_min, x_max, y_max;
double x_min_w, y_min_w, x_max_w, y_max_w;
x_min = x.front().first; y_min = y.front().first;
x_max = x.front().first; y_max = y.front().first;
x_min_w = x.front().second; y_min_w = y.front().second;
x_max_w = x.front().second; y_max_w = y.front().second;
for (int i = 1; i < yaw_robot.size(); i++)
{
if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_))
continue;
x_min = std::min(x_min, x[i].first);
y_min = std::min(y_min, y[i].first);
x_max = std::max(x_max, x[i].first);
y_max = std::max(y_max, y[i].first);
x_min_w = std::min(x_min_w, x[i].second);
y_min_w = std::min(y_min_w, y[i].second);
x_max_w = std::max(x_max_w, x[i].second);
y_max_w = std::max(y_max_w, y[i].second);
}
// printf("%d %d %d %d", x_min, y_min, x_max, y_max);
// printf("%f %f %f %f", x_min_w, y_min_w, x_max_w, y_max_w);
for (int i = 0; i < yaw_robot.size(); i++)
{
if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_))
continue;
double yaw_rad = (double)yaw_robot[i] / 180 * M_PI;
if (fabs(cos(yaw_rad)) > fabs(sin(yaw_rad)))
{
int x_ = x[i].first;
// Dưới lên trên
for (int j = y[i].first; j <= y_max; j++)
{
int y_ = j;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
// Trên xuống dưới
for (int k = y[i].first; k >= y_min; k--)
{
int y_ = k;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
int y_ = y[i].first;
// Phải qua trái
for (int j = x[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsX(); j++)
{
int x_ = j;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
// Trái qua phải
for (int k = x[i].first; k >= 0; k--)
{
int x_ = k;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
}
else if(fabs(cos(yaw_rad)) < fabs(sin(yaw_rad)))
{
int y_ = y[i].first;
// Phải qua trái
for (int j = x[i].first; j <= x_max; j++)
{
int x_ = j;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
// Trái qua phải
for (int k = x[i].first; k >= x_min; k--)
{
int x_ = k;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
int x_ = x[i].first;
// Dưới lên trên
for (int j = y[i].first; j < layered_costmap_->getCostmap()->getSizeInCellsY(); j++)
{
int y_ = j;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
// Trên xuống dưới
for (int k = y[i].first; k >= 0; k--)
{
int y_ = k;
if (costmap_[getIndex(x_, y_)] == costmap_2d::LETHAL_OBSTACLE)
continue;
unsigned char value = laneFilter(x_, y_, yaw_robot[i]);
if (value >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE && value != costmap_2d::NO_INFORMATION)
costmap_[getIndex(x_, y_)] = value;
else
break;
}
}
}
}
void DirectionalLayer::resetMap()
{
unsigned int size_x = layered_costmap_->getCostmap()->getSizeInCellsX();
unsigned int size_y = layered_costmap_->getCostmap()->getSizeInCellsY();
for (unsigned int iy = 0; iy < size_y; iy++)
{
for (unsigned int ix = 0; ix < size_x; ix++)
{
int index = getIndex(ix, iy);
costmap_[index] = costmap_2d::NO_INFORMATION;
}
}
}
bool DirectionalLayer::getRobotPose(double &x, double &y, double &yaw)
{
tf3::TransformStampedMsg transformMsg;
try
{
transformMsg = tf_->lookupTransform(map_frame_, base_frame_id_, tf3::Time());
// listener_.lookupTransform(map_frame_, base_frame_id_, tf3::Time(), transform);
}
catch (tf3::TransformException &ex)
{
printf("%s\n", ex.what());
return false;
}
// Copy map data given proper transformations
tf3::Transform tf3_transform;
tf3_transform = data_convert::convertTotf3Transform(transformMsg.transform);
x = tf3_transform.getOrigin().x();
y = tf3_transform.getOrigin().y();
// Extract the rotation as a quaternion from the transform
tf3::Quaternion rotation = tf3_transform.getRotation();
// Convert the quaternion to a yaw angle (in radians)
yaw = tf3::getYaw(rotation);
return true;
}
bool DirectionalLayer::inSkipErea(double start_x, double start_y, double end_x, double end_y, double skip_distance)
{
return fabs(hypot(start_x - end_x, start_y - end_y)) <= skip_distance;
}
// Export factory function
static PluginLayerPtr create_directional_plugin() {
return std::make_shared<DirectionalLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_directional_plugin, create_plugin)
}
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