587 lines
21 KiB
C++
587 lines
21 KiB
C++
#include <costmap_2d/obstacle_layer.h>
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// #include <costmap_2d/costmap_math.h>
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// #include <tf2_ros/message_filter.h>
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// #include <pluginlib/class_list_macros.hpp>
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// #include <sensor_msgs/point_cloud2_iterator.h>
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// PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer)
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// using costmap_2d::NO_INFORMATION;
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// using costmap_2d::LETHAL_OBSTACLE;
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// using costmap_2d::FREE_SPACE;
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// using costmap_2d::ObservationBuffer;
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// using costmap_2d::Observation;
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// namespace costmap_2d
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// {
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// void ObstacleLayer::onInitialize()
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// {
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// ros::NodeHandle nh("~/" + name_), g_nh;
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// rolling_window_ = layered_costmap_->isRolling();
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// bool track_unknown_space;
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// nh.param("track_unknown_space", track_unknown_space, layered_costmap_->isTrackingUnknown());
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// if (track_unknown_space)
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// default_value_ = NO_INFORMATION;
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// else
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// default_value_ = FREE_SPACE;
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// ObstacleLayer::matchSize();
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// current_ = true;
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// global_frame_ = layered_costmap_->getGlobalFrameID();
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// double transform_tolerance;
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// nh.param("transform_tolerance", transform_tolerance, 0.2);
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// std::string topics_string;
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// // get the topics that we'll subscribe to from the parameter server
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// nh.param("observation_sources", topics_string, std::string(""));
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// ROS_INFO(" Subscribed to Topics: %s", topics_string.c_str());
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// // now we need to split the topics based on whitespace which we can use a stringstream for
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// std::stringstream ss(topics_string);
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// std::string source;
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// while (ss >> source)
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// {
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// ros::NodeHandle source_node(nh, source);
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// // get the parameters for the specific topic
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// double observation_keep_time, expected_update_rate, min_obstacle_height, max_obstacle_height;
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// std::string topic, sensor_frame, data_type;
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// bool inf_is_valid, clearing, marking;
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// source_node.param("topic", topic, source);
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// source_node.param("sensor_frame", sensor_frame, std::string(""));
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// source_node.param("observation_persistence", observation_keep_time, 0.0);
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// source_node.param("expected_update_rate", expected_update_rate, 0.0);
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// source_node.param("data_type", data_type, std::string("PointCloud"));
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// source_node.param("min_obstacle_height", min_obstacle_height, 0.0);
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// source_node.param("max_obstacle_height", max_obstacle_height, 2.0);
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// source_node.param("inf_is_valid", inf_is_valid, false);
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// source_node.param("clearing", clearing, false);
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// source_node.param("marking", marking, true);
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// if (!(data_type == "PointCloud2" || data_type == "PointCloud" || data_type == "LaserScan"))
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// {
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// ROS_FATAL("Only topics that use point clouds or laser scans are currently supported");
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// throw std::runtime_error("Only topics that use point clouds or laser scans are currently supported");
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// }
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// std::string raytrace_range_param_name, obstacle_range_param_name;
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// // get the obstacle range for the sensor
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// double obstacle_range = 2.5;
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// if (source_node.searchParam("obstacle_range", obstacle_range_param_name))
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// {
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// source_node.getParam(obstacle_range_param_name, obstacle_range);
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// }
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// // get the raytrace range for the sensor
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// double raytrace_range = 3.0;
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// if (source_node.searchParam("raytrace_range", raytrace_range_param_name))
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// {
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// source_node.getParam(raytrace_range_param_name, raytrace_range);
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// }
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// ROS_DEBUG("Creating an observation buffer for source %s, topic %s, frame %s", source.c_str(), topic.c_str(),
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// sensor_frame.c_str());
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// // create an observation buffer
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// observation_buffers_.push_back(
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// boost::shared_ptr < ObservationBuffer
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// > (new ObservationBuffer(topic, observation_keep_time, expected_update_rate, min_obstacle_height,
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// max_obstacle_height, obstacle_range, raytrace_range, *tf_, global_frame_,
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// sensor_frame, transform_tolerance)));
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// // check if we'll add this buffer to our marking observation buffers
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// if (marking)
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// marking_buffers_.push_back(observation_buffers_.back());
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// // check if we'll also add this buffer to our clearing observation buffers
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// if (clearing)
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// clearing_buffers_.push_back(observation_buffers_.back());
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// ROS_DEBUG(
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// "Created an observation buffer for source %s, topic %s, global frame: %s, "
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// "expected update rate: %.2f, observation persistence: %.2f",
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// source.c_str(), topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time);
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// // create a callback for the topic
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// if (data_type == "LaserScan")
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// {
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// boost::shared_ptr < message_filters::Subscriber<sensor_msgs::LaserScan>
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// > sub(new message_filters::Subscriber<sensor_msgs::LaserScan>(g_nh, topic, 50));
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// boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::LaserScan> > filter(
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// new tf2_ros::MessageFilter<sensor_msgs::LaserScan>(*sub, *tf_, global_frame_, 50, g_nh));
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// if (inf_is_valid)
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// {
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// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanValidInfCallback(msg, buffer); });
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// }
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// else
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// {
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// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ laserScanCallback(msg, buffer); });
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// }
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// observation_subscribers_.push_back(sub);
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// observation_notifiers_.push_back(filter);
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// observation_notifiers_.back()->setTolerance(ros::Duration(0.05));
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// }
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// else if (data_type == "PointCloud")
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// {
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// boost::shared_ptr < message_filters::Subscriber<sensor_msgs::PointCloud>
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// > sub(new message_filters::Subscriber<sensor_msgs::PointCloud>(g_nh, topic, 50));
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// if (inf_is_valid)
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// {
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// ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.");
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// }
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// boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud>
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// > filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud>(*sub, *tf_, global_frame_, 50, g_nh));
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// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloudCallback(msg, buffer); });
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// observation_subscribers_.push_back(sub);
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// observation_notifiers_.push_back(filter);
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// }
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// else
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// {
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// boost::shared_ptr < message_filters::Subscriber<sensor_msgs::PointCloud2>
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// > sub(new message_filters::Subscriber<sensor_msgs::PointCloud2>(g_nh, topic, 50));
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// if (inf_is_valid)
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// {
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// ROS_WARN("obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.");
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// }
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// boost::shared_ptr < tf2_ros::MessageFilter<sensor_msgs::PointCloud2>
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// > filter(new tf2_ros::MessageFilter<sensor_msgs::PointCloud2>(*sub, *tf_, global_frame_, 50, g_nh));
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// filter->registerCallback([this,buffer=observation_buffers_.back()](auto& msg){ pointCloud2Callback(msg, buffer); });
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// observation_subscribers_.push_back(sub);
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// observation_notifiers_.push_back(filter);
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// }
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// if (sensor_frame != "")
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// {
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// std::vector < std::string > target_frames;
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// target_frames.push_back(global_frame_);
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// target_frames.push_back(sensor_frame);
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// observation_notifiers_.back()->setTargetFrames(target_frames);
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// }
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// }
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// dsrv_ = NULL;
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// setupDynamicReconfigure(nh);
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// }
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// void ObstacleLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
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// {
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// dsrv_ = new dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>(nh);
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// dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>::CallbackType cb =
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// [this](auto& config, auto level){ reconfigureCB(config, level); };
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// dsrv_->setCallback(cb);
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// }
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// ObstacleLayer::~ObstacleLayer()
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// {
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// if (dsrv_)
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// delete dsrv_;
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// }
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// void ObstacleLayer::reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level)
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// {
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// enabled_ = config.enabled;
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// footprint_clearing_enabled_ = config.footprint_clearing_enabled;
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// max_obstacle_height_ = config.max_obstacle_height;
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// combination_method_ = config.combination_method;
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// }
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// void ObstacleLayer::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
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// const boost::shared_ptr<ObservationBuffer>& buffer)
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// {
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// // project the laser into a point cloud
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// sensor_msgs::PointCloud2 cloud;
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// cloud.header = message->header;
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// // project the scan into a point cloud
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// try
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// {
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// projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, *tf_);
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// }
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// catch (tf2::TransformException &ex)
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// {
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// ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s", global_frame_.c_str(),
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// ex.what());
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// projector_.projectLaser(*message, cloud);
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// }
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// catch (std::runtime_error &ex)
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// {
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// ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what());
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// return; //ignore this message
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// }
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// // buffer the point cloud
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// buffer->lock();
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// buffer->bufferCloud(cloud);
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// buffer->unlock();
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// }
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// void ObstacleLayer::laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& raw_message,
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// const boost::shared_ptr<ObservationBuffer>& buffer)
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// {
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// // Filter positive infinities ("Inf"s) to max_range.
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// float epsilon = 0.0001; // a tenth of a millimeter
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// sensor_msgs::LaserScan message = *raw_message;
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// for (size_t i = 0; i < message.ranges.size(); i++)
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// {
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// float range = message.ranges[ i ];
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// if (!std::isfinite(range) && range > 0)
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// {
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// message.ranges[ i ] = message.range_max - epsilon;
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// }
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// }
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// // project the laser into a point cloud
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// sensor_msgs::PointCloud2 cloud;
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// cloud.header = message.header;
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// // project the scan into a point cloud
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// try
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// {
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// projector_.transformLaserScanToPointCloud(message.header.frame_id, message, cloud, *tf_);
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// }
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// catch (tf2::TransformException &ex)
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// {
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// ROS_WARN("High fidelity enabled, but TF returned a transform exception to frame %s: %s",
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// global_frame_.c_str(), ex.what());
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// projector_.projectLaser(message, cloud);
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// }
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// catch (std::runtime_error &ex)
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// {
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// ROS_WARN("transformLaserScanToPointCloud error, it seems the message from laser sensor is malformed. Ignore this laser scan. what(): %s", ex.what());
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// return; //ignore this message
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// }
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// // buffer the point cloud
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// buffer->lock();
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// buffer->bufferCloud(cloud);
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// buffer->unlock();
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// }
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// void ObstacleLayer::pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
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// const boost::shared_ptr<ObservationBuffer>& buffer)
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// {
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// sensor_msgs::PointCloud2 cloud2;
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// if (!sensor_msgs::convertPointCloudToPointCloud2(*message, cloud2))
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// {
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// ROS_ERROR("Failed to convert a PointCloud to a PointCloud2, dropping message");
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// return;
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// }
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// // buffer the point cloud
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// buffer->lock();
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// buffer->bufferCloud(cloud2);
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// buffer->unlock();
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// }
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// void ObstacleLayer::pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
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// const boost::shared_ptr<ObservationBuffer>& buffer)
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// {
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// // buffer the point cloud
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// buffer->lock();
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// buffer->bufferCloud(*message);
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// buffer->unlock();
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// }
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// void ObstacleLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
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// double* min_y, double* max_x, double* max_y)
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// {
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// if (rolling_window_)
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// updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2);
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// useExtraBounds(min_x, min_y, max_x, max_y);
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// bool current = true;
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// std::vector<Observation> observations, clearing_observations;
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// // get the marking observations
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// current = current && getMarkingObservations(observations);
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// // get the clearing observations
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// current = current && getClearingObservations(clearing_observations);
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// // update the global current status
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// current_ = current;
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// // raytrace freespace
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// for (unsigned int i = 0; i < clearing_observations.size(); ++i)
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// {
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// raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y);
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// }
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// // place the new obstacles into a priority queue... each with a priority of zero to begin with
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// for (std::vector<Observation>::const_iterator it = observations.begin(); it != observations.end(); ++it)
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// {
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// const Observation& obs = *it;
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// const sensor_msgs::PointCloud2& cloud = *(obs.cloud_);
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// double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_;
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// sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
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// sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
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// sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud, "z");
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// for (; iter_x !=iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
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// {
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// double px = *iter_x, py = *iter_y, pz = *iter_z;
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// // if the obstacle is too high or too far away from the robot we won't add it
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// if (pz > max_obstacle_height_)
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// {
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// ROS_DEBUG("The point is too high");
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// continue;
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// }
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// // compute the squared distance from the hitpoint to the pointcloud's origin
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// double sq_dist = (px - obs.origin_.x) * (px - obs.origin_.x) + (py - obs.origin_.y) * (py - obs.origin_.y)
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// + (pz - obs.origin_.z) * (pz - obs.origin_.z);
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// // if the point is far enough away... we won't consider it
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// if (sq_dist >= sq_obstacle_range)
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// {
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// ROS_DEBUG("The point is too far away");
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// continue;
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// }
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// // now we need to compute the map coordinates for the observation
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// unsigned int mx, my;
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// if (!worldToMap(px, py, mx, my))
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// {
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// ROS_DEBUG("Computing map coords failed");
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// continue;
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// }
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// unsigned int index = getIndex(mx, my);
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// costmap_[index] = LETHAL_OBSTACLE;
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// touch(px, py, min_x, min_y, max_x, max_y);
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// }
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// }
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// updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
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// }
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// void ObstacleLayer::updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
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// double* max_x, double* max_y)
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// {
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// if (!footprint_clearing_enabled_) return;
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// transformFootprint(robot_x, robot_y, robot_yaw, getFootprint(), transformed_footprint_);
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// for (unsigned int i = 0; i < transformed_footprint_.size(); i++)
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// {
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// touch(transformed_footprint_[i].x, transformed_footprint_[i].y, min_x, min_y, max_x, max_y);
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// }
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// }
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// void ObstacleLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
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// {
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// if (footprint_clearing_enabled_)
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// {
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// setConvexPolygonCost(transformed_footprint_, costmap_2d::FREE_SPACE);
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// }
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// switch (combination_method_)
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// {
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// case 0: // Overwrite
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// updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
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// break;
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// case 1: // Maximum
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// updateWithMax(master_grid, min_i, min_j, max_i, max_j);
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// break;
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// default: // Nothing
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// break;
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// }
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// }
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// void ObstacleLayer::addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing)
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// {
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// if (marking)
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// static_marking_observations_.push_back(obs);
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// if (clearing)
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// static_clearing_observations_.push_back(obs);
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// }
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// void ObstacleLayer::clearStaticObservations(bool marking, bool clearing)
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// {
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// if (marking)
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// static_marking_observations_.clear();
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// if (clearing)
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// static_clearing_observations_.clear();
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// }
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// bool ObstacleLayer::getMarkingObservations(std::vector<Observation>& marking_observations) const
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// {
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// bool current = true;
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// // get the marking observations
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// for (unsigned int i = 0; i < marking_buffers_.size(); ++i)
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// {
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// marking_buffers_[i]->lock();
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// marking_buffers_[i]->getObservations(marking_observations);
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// current = marking_buffers_[i]->isCurrent() && current;
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// marking_buffers_[i]->unlock();
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// }
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// marking_observations.insert(marking_observations.end(),
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// static_marking_observations_.begin(), static_marking_observations_.end());
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// return current;
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// }
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// bool ObstacleLayer::getClearingObservations(std::vector<Observation>& clearing_observations) const
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// {
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// bool current = true;
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// // get the clearing observations
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// for (unsigned int i = 0; i < clearing_buffers_.size(); ++i)
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// {
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// clearing_buffers_[i]->lock();
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// clearing_buffers_[i]->getObservations(clearing_observations);
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// current = clearing_buffers_[i]->isCurrent() && current;
|
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// clearing_buffers_[i]->unlock();
|
|
// }
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|
// clearing_observations.insert(clearing_observations.end(),
|
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// static_clearing_observations_.begin(), static_clearing_observations_.end());
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// return current;
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|
// }
|
|
|
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// void ObstacleLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y,
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// double* max_x, double* max_y)
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// {
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|
// double ox = clearing_observation.origin_.x;
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// double oy = clearing_observation.origin_.y;
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// const sensor_msgs::PointCloud2 &cloud = *(clearing_observation.cloud_);
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|
|
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// // get the map coordinates of the origin of the sensor
|
|
// unsigned int x0, y0;
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// if (!worldToMap(ox, oy, x0, y0))
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|
// {
|
|
// ROS_WARN_THROTTLE(
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|
// 1.0, "The origin for the sensor at (%.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.",
|
|
// ox, oy);
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|
// return;
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|
// }
|
|
|
|
// // we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
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|
// double origin_x = origin_x_, origin_y = origin_y_;
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// double map_end_x = origin_x + size_x_ * resolution_;
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|
// double map_end_y = origin_y + size_y_ * resolution_;
|
|
|
|
|
|
// touch(ox, oy, min_x, min_y, max_x, max_y);
|
|
|
|
// // for each point in the cloud, we want to trace a line from the origin and clear obstacles along it
|
|
// sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
|
|
// sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
|
|
|
|
// for (; iter_x != iter_x.end(); ++iter_x, ++iter_y)
|
|
// {
|
|
// double wx = *iter_x;
|
|
// double wy = *iter_y;
|
|
|
|
// // now we also need to make sure that the enpoint we're raytracing
|
|
// // to isn't off the costmap and scale if necessary
|
|
// double a = wx - ox;
|
|
// double b = wy - oy;
|
|
|
|
// // the minimum value to raytrace from is the origin
|
|
// if (wx < origin_x)
|
|
// {
|
|
// double t = (origin_x - ox) / a;
|
|
// wx = origin_x;
|
|
// wy = oy + b * t;
|
|
// }
|
|
// if (wy < origin_y)
|
|
// {
|
|
// double t = (origin_y - oy) / b;
|
|
// wx = ox + a * t;
|
|
// wy = origin_y;
|
|
// }
|
|
|
|
// // the maximum value to raytrace to is the end of the map
|
|
// if (wx > map_end_x)
|
|
// {
|
|
// double t = (map_end_x - ox) / a;
|
|
// wx = map_end_x - .001;
|
|
// wy = oy + b * t;
|
|
// }
|
|
// if (wy > map_end_y)
|
|
// {
|
|
// double t = (map_end_y - oy) / b;
|
|
// wx = ox + a * t;
|
|
// wy = map_end_y - .001;
|
|
// }
|
|
|
|
// // now that the vector is scaled correctly... we'll get the map coordinates of its endpoint
|
|
// unsigned int x1, y1;
|
|
|
|
// // check for legality just in case
|
|
// if (!worldToMap(wx, wy, x1, y1))
|
|
// continue;
|
|
|
|
// unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
|
|
// MarkCell marker(costmap_, FREE_SPACE);
|
|
// // and finally... we can execute our trace to clear obstacles along that line
|
|
// raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range);
|
|
|
|
// updateRaytraceBounds(ox, oy, wx, wy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
|
|
// }
|
|
// }
|
|
|
|
// void ObstacleLayer::activate()
|
|
// {
|
|
// // if we're stopped we need to re-subscribe to topics
|
|
// for (unsigned int i = 0; i < observation_subscribers_.size(); ++i)
|
|
// {
|
|
// if (observation_subscribers_[i] != NULL)
|
|
// observation_subscribers_[i]->subscribe();
|
|
// }
|
|
|
|
// for (unsigned int i = 0; i < observation_buffers_.size(); ++i)
|
|
// {
|
|
// if (observation_buffers_[i])
|
|
// observation_buffers_[i]->resetLastUpdated();
|
|
// }
|
|
// }
|
|
// void ObstacleLayer::deactivate()
|
|
// {
|
|
// for (unsigned int i = 0; i < observation_subscribers_.size(); ++i)
|
|
// {
|
|
// if (observation_subscribers_[i] != NULL)
|
|
// observation_subscribers_[i]->unsubscribe();
|
|
// }
|
|
// }
|
|
|
|
// void ObstacleLayer::updateRaytraceBounds(double ox, double oy, double wx, double wy, double range,
|
|
// double* min_x, double* min_y, double* max_x, double* max_y)
|
|
// {
|
|
// double dx = wx-ox, dy = wy-oy;
|
|
// double full_distance = hypot(dx, dy);
|
|
// double scale = std::min(1.0, range / full_distance);
|
|
// double ex = ox + dx * scale, ey = oy + dy * scale;
|
|
// touch(ex, ey, min_x, min_y, max_x, max_y);
|
|
// }
|
|
|
|
// void ObstacleLayer::reset()
|
|
// {
|
|
// deactivate();
|
|
// resetMaps();
|
|
// current_ = true;
|
|
// activate();
|
|
// }
|
|
|
|
// } // namespace costmap_2d
|