DuongTD/dock_planner
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: DuongTD:c5c55147b754158e16278e73710ebbee76e6290c
Branches Tags
DuongTD:main
...
compare: DuongTD:main
Branches Tags
DuongTD:main

9 Commits
c5c55147b7 ... main

Author SHA1 Message Date
HiepLM
d51ecc0986 update 2026-03-21 19:03:11 +07:00
HiepLM
56d05e4322 u 2026-03-20 08:38:51 +00:00
HiepLM
da82431cd9 update tf3 2026-02-07 10:56:15 +07:00
HiepLM
8f0cd33ec7 update 2026-01-13 14:29:52 +07:00
HiepLM
c4ae3961ab update for ROS 2026-01-07 16:54:50 +07:00
HiepLM
22aa83fe5a robot_nav_core 2026-01-07 09:17:55 +07:00
HiepLM
b5a1b7b6d8 Hiep update 2025-12-30 10:20:42 +07:00
HiepLM
9c84e64253 Hiep sua ten file 2025-12-30 09:59:48 +07:00
HiepLM
92264eaffc update 2025-12-30 09:11:02 +07:00
10 changed files with 444 additions and 277 deletions
Expand all files Collapse all files

242
CMakeLists.txt
View File

@@ -1,39 +1,95 @@
# --- CMake version và project name ---
cmake_minimum_required(VERSION 3.10)
project(dock_planner)
cmake_minimum_required(VERSION 3.0.2)
project(dock_planner VERSION 1.0.0 LANGUAGES CXX)
# --- C++ standard và position independent code ---
set(CMAKE_CXX_STANDARD 17) # Sử dụng C++17
set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Thư viện có thể build thành shared lib
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
set(BUILDING_WITH_CATKIN TRUE)
message(STATUS "Building dock_planner with Catkin")
# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
# Dùng để runtime linker tìm thư viện đã build trước khi install
set(CMAKE_SKIP_BUILD_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/dock_planner")
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/dock_planner")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
else()
set(BUILDING_WITH_CATKIN FALSE)
message(STATUS "Building dock_planner with Standalone CMake")
endif()
# --- Dependencies ---
# Tìm các thư viện cần thiết
# find_package(tf3 REQUIRED) # Nếu dùng tf3
find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# --- Include directories ---
# Thêm các folder chứa header files
include_directories(
# Find dependencies
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread filesystem)
if (NOT BUILDING_WITH_CATKIN)
# Enable Position Independent Code
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Cấu hình RPATH để tránh cycle trong runtime search path
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
set(PACKAGES_DIR
robot_visualization_msgs
robot_nav_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
robot_std_msgs
robot_geometry_msgs
tf3
robot_time
data_convert
robot_costmap_2d
robot_nav_core
robot_cpp
)
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
else()
# ========================================================
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
robot_visualization_msgs
robot_nav_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
robot_std_msgs
robot_geometry_msgs
robot_time
data_convert
robot_costmap_2d
robot_nav_core
robot_cpp
)
find_package(Boost REQUIRED COMPONENTS system thread filesystem)
find_package(Eigen3 REQUIRED)
# Find tf3 library
find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
DEPENDS Eigen3 Boost
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
${TF3_INCLUDE_DIR}
)
endif()
# --- Eigen và PCL definitions ---
add_definitions(${EIGEN3_DEFINITIONS})
# --- Core library: dock_planner ---
# Tạo thư viện chính
add_library(dock_planner
# ========================================================
# Libraries
# ========================================================
add_library(${PROJECT_NAME} SHARED
src/dock_planner.cpp
src/dock_calc.cpp
src/utils/curve_common.cpp
@@ -41,50 +97,94 @@ add_library(dock_planner
src/utils/line_common.cpp
)
# --- Link các thư viện phụ thuộc ---
target_link_libraries(dock_planner
${Boost_LIBRARIES} # Boost
visualization_msgs
nav_msgs
tf3
tf3_geometry_msgs
robot_time
data_convert
costmap_2d
nav_core
robot_cpp
nav_2d_utils
)
if(BUILDING_WITH_CATKIN)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# --- Include directories cho target ---
target_include_directories(dock_planner
PUBLIC
${Boost_INCLUDE_DIRS} # Boost headers
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Khi build từ source
$<INSTALL_INTERFACE:include/${PROJECT_NAME}> # Khi install
)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS dock_planner
EXPORT dock_planner-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
target_link_libraries(${PROJECT_NAME}
PUBLIC ${catkin_LIBRARIES}
PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
${TF3_LIBRARY}
)
# --- Xuất export set costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/dock_planner/costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(dock_planner REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---
install(EXPORT dock_planner-targets
FILE dock_planner-targets.cmake
NAMESPACE dock_planner::
DESTINATION lib/cmake/dock_planner
)
else()
# --- Cài đặt headers ---
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${TF3_INCLUDE_DIR}
)
target_link_libraries(${PROJECT_NAME}
PUBLIC
${PACKAGES_DIR}
PRIVATE
Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
${TF3_LIBRARY}
)
set_target_properties(${PROJECT_NAME} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
BUILD_RPATH "${CMAKE_BINARY_DIR}"
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
)
endif()
# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
else()
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}-targets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Export targets
install(EXPORT ${PROJECT_NAME}-targets
FILE ${PROJECT_NAME}-targets.cmake
NAMESPACE ${PROJECT_NAME}::
DESTINATION lib/cmake/${PROJECT_NAME}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# Print configuration info
message(STATUS "=================================")
message(STATUS "Project: ${PROJECT_NAME}")
message(STATUS "Version: ${PROJECT_VERSION}")
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
message(STATUS "Dependencies: robot_visualization_msgs, robot_nav_msgs, robot_nav_2d_msgs, robot_nav_2d_utils, robot_std_msgs, robot_geometry_msgs, tf3, robot_time, data_convert, robot_costmap_2d, robot_nav_core, robot_cpp, Eigen3, Boost")
message(STATUS "=================================")
endif()

80
include/dock_planner/dock_calc.h
View File

@@ -1,23 +1,23 @@
#ifndef DOCK_CALC_H
#define DOCK_CALC_H
#include <nav_2d_utils/footprint.h>
#include <geometry_msgs/PoseStamped.h>
#include <robot_nav_2d_utils/footprint.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetPlan.h>
#include <robot_nav_msgs/Path.h>
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_nav_msgs/GetPlan.h>
#include <costmap_2d/costmap_2d_robot.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/inflation_layer.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
#include <robot_costmap_2d/costmap_2d.h>
#include <robot_costmap_2d/inflation_layer.h>
#include <tf3/LinearMath/Quaternion.h>
#include "dock_planner/utils/curve_common.h"
#include "dock_planner/utils/pose.h"
#include "dock_planner/utils/common.h"
#include <robot/console.h>
#include <robot/robot.h>
#include <vector>
@@ -39,10 +39,10 @@ namespace dock_planner
Spline_Inf* input_spline_inf;
CurveCommon* CurveDesign;
vector<geometry_msgs::Pose> posesOnPathWay;
vector<geometry_msgs::Point> footprint_robot_;
geometry_msgs::PoseStamped save_goal_;
// std::vector<geometry_msgs::Pose> free_zone_;
vector<robot_geometry_msgs::Pose> posesOnPathWay;
vector<robot_geometry_msgs::Point> footprint_robot_;
robot_geometry_msgs::PoseStamped save_goal_;
// std::vector<robot_geometry_msgs::Pose> free_zone_;
bool check_goal_;
int store_start_nearest_idx_;
@@ -50,7 +50,7 @@ namespace dock_planner
double min_distance_to_goal_;
// Tính khoảng cách giữa 2 điểm
inline double calc_distance(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2)
inline double calc_distance(const robot_geometry_msgs::Pose& p1, const robot_geometry_msgs::Pose& p2)
{
return std::hypot(p1.position.x - p2.position.x, p1.position.y - p2.position.y);
}
@@ -80,47 +80,47 @@ namespace dock_planner
int degree,
double initial_step = 0.02);
geometry_msgs::Pose offsetPoint(const geometry_msgs::Pose& A,const double& theta, const double& d);
robot_geometry_msgs::Pose offsetPoint(const robot_geometry_msgs::Pose& A,const double& theta, const double& d);
double pointToSegmentDistance(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C);
double pointToSegmentDistance(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C);
double signedAngle(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C);
double signedAngle(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C);
double compute_t(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C);
double compute_t(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C);
geometry_msgs::Pose compute_D(const geometry_msgs::Pose& B, const geometry_msgs::Pose& C,const double& t);
robot_geometry_msgs::Pose compute_D(const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C,const double& t);
void updatePoseOrientation(std::vector<geometry_msgs::Pose>& saved_poses,
std::vector<geometry_msgs::Pose>& nurbs_path,
void updatePoseOrientation(std::vector<robot_geometry_msgs::Pose>& saved_poses,
std::vector<robot_geometry_msgs::Pose>& nurbs_path,
bool reverse = true);
bool findPathTMP(const vector<geometry_msgs::Pose>& control_points,
vector<geometry_msgs::Pose>& saved_poses,
bool findPathTMP(const vector<robot_geometry_msgs::Pose>& control_points,
vector<robot_geometry_msgs::Pose>& saved_poses,
const int& degree, double step = 0.02);
bool findNURBSControlPoints(int& dir, vector<geometry_msgs::Pose>& control_points,
const geometry_msgs::Pose& start_pose,
const std::vector<geometry_msgs::Pose>& posesOnPathWay,
bool findNURBSControlPoints(int& dir, vector<robot_geometry_msgs::Pose>& control_points,
const robot_geometry_msgs::Pose& start_pose,
const std::vector<robot_geometry_msgs::Pose>& posesOnPathWay,
const double& angle_threshol, const int& degree);
int findNearestPointOnPath(int& dir, const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Pose>& posesOnPathWay,
int findNearestPointOnPath(int& dir, const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Pose>& posesOnPathWay,
const double& angle_threshol);
bool isFreeSpace(const geometry_msgs::Pose& pose, const std::vector<geometry_msgs::Point>& footprint);
bool isFreeSpace(const robot_geometry_msgs::Pose& pose, const std::vector<robot_geometry_msgs::Point>& footprint);
std::vector<geometry_msgs::Point> calcFreeZone(const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Point>& footprint);
std::vector<robot_geometry_msgs::Point> calcFreeZone(const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Point>& footprint);
std::vector<geometry_msgs::Point> interpolateFootprint(const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Point>& footprint, const double& resolution);
std::vector<robot_geometry_msgs::Point> interpolateFootprint(const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Point>& footprint, const double& resolution);
RobotGeometry computeGeometry(const std::vector<geometry_msgs::Point>& fp);
RobotGeometry computeGeometry(const std::vector<robot_geometry_msgs::Point>& fp);
public:
//Params
costmap_2d::Costmap2D* costmap_;
robot_costmap_2d::Costmap2D* costmap_;
int cost_threshold_; // Threshold for obstacle detection
double safety_distance_; // Safety distance from obstacles
@@ -130,12 +130,12 @@ namespace dock_planner
~DockCalc();
bool makePlanMoveToDock(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal,
const vector<geometry_msgs::Point>& footprint_robot,
const vector<geometry_msgs::Point>& footprint_dock,
bool makePlanMoveToDock(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal,
const vector<robot_geometry_msgs::Point>& footprint_robot,
const vector<robot_geometry_msgs::Point>& footprint_dock,
const int& degree, const double& step,
vector<geometry_msgs::Pose>& planMoveToDock,
vector<robot_geometry_msgs::Pose>& planMoveToDock,
bool reverse = false);

25
include/dock_planner/dock_planner.h
View File

@@ -4,38 +4,37 @@
#include "dock_planner/dock_calc.h"
#include <nav_core/base_global_planner.h>
#include <robot_nav_core/base_global_planner.h>
namespace dock_planner {
class DockPlanner : public nav_core::BaseGlobalPlanner
class DockPlanner : public robot_nav_core::BaseGlobalPlanner
{
public:
DockPlanner();
DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
bool initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
bool initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
bool makePlan(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal,
std::vector<geometry_msgs::PoseStamped>& plan);
bool makePlan(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal,
std::vector<robot_geometry_msgs::PoseStamped>& plan);
static robot_nav_core::BaseGlobalPlanner::Ptr create();
private:
// Core components
costmap_2d::Costmap2DROBOT* costmap_robot_;
costmap_2d::Costmap2D* costmap_;
robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
robot_costmap_2d::Costmap2D* costmap_;
bool initialized_;
std::string frame_id_;
// ros::Publisher plan_pub_;
std::vector<geometry_msgs::Point> footprint_dock_;
std::vector<robot_geometry_msgs::Point> footprint_dock_;
int cost_threshold_;
double calib_safety_distance_;
bool check_free_space_;
DockCalc calc_plan_to_dock_;
void publishPlan(const std::vector<geometry_msgs::PoseStamped>& plan);
};
} // namespace dock_planner

6
include/dock_planner/utils/color.h
View File

@@ -1,14 +1,14 @@
#ifndef COLOR_H_
#define COLOR_H_
#include <std_msgs/ColorRGBA.h>
#include <robot_std_msgs/ColorRGBA.h>
namespace agv_visualization
{
class Color : public std_msgs::ColorRGBA
class Color : public robot_std_msgs::ColorRGBA
{
public:
Color() : std_msgs::ColorRGBA() {}
Color() : robot_std_msgs::ColorRGBA() {}
Color(double red, double green, double blue) : Color(red, green, blue, 1.0) {}
Color(double red, double green, double blue, double alpha) : Color() {
r = red;

10
include/dock_planner/utils/conversion.h
View File

@@ -3,14 +3,14 @@
#include "curve_common.h"
#include <Eigen/Geometry>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <robot_geometry_msgs/Point.h>
#include <robot_geometry_msgs/Quaternion.h>
inline Eigen::Vector3d EigenVecter3dFromPointMsg(const geometry_msgs::Point& msg) {
inline Eigen::Vector3d EigenVecter3dFromPointMsg(const robot_geometry_msgs::Point& msg) {
return Eigen::Vector3d(msg.x, msg.y, msg.z);
}
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<geometry_msgs::PoseStamped> &plan)
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<robot_geometry_msgs::PoseStamped> &plan)
{
EigenTrajectoryPoint::Vector eigen_trajectory_point_vec;
EigenTrajectoryPoint eigen_trajectory_point;
@@ -25,7 +25,7 @@ inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::v
return eigen_trajectory_point_vec;
}
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<geometry_msgs::Point> &discreate_point_vec)
inline EigenTrajectoryPoint::Vector EigenTrajectoryVectorFromVector(const std::vector<robot_geometry_msgs::Point> &discreate_point_vec)
{
EigenTrajectoryPoint::Vector eigen_trajectory_point_vec;
EigenTrajectoryPoint eigen_trajectory_point;

36
include/dock_planner/utils/curve_common.h
View File

@@ -2,11 +2,11 @@
#define CURVE_COMMON_H_
#include <Eigen/Eigen>
#include <nav_msgs/Path.h>
#include <geometry_msgs/Point.h>
#include <visualization_msgs/Marker.h>
#include <robot_nav_msgs/Path.h>
#include <robot_geometry_msgs/Point.h>
#include <robot_visualization_msgs/Marker.h>
#include "color.h"
#include <robot/console.h>
#include <robot/robot.h>
struct Spline_Inf
{
@@ -43,16 +43,16 @@ class CurveCommon
{
public:
CurveCommon();
nav_msgs::Path Generate_Line(geometry_msgs::Point start_point, geometry_msgs::Point end_point, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id);
nav_msgs::Path Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_Line(robot_geometry_msgs::Point start_point, robot_geometry_msgs::Point end_point, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id);
robot_nav_msgs::Path Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id);
void CalculateDerivativeBasisFunc(Spline_Inf* spline_inf, double u_data, int differential_times);
geometry_msgs::Point CalculateDerivativeCurvePoint(Spline_Inf* spline_inf, double u_data, int differential_times, bool UsingNURBS);
geometry_msgs::Point CalculateCurvePoint(Spline_Inf* spline_inf, double u_data, bool UsingNURBS);
robot_geometry_msgs::Point CalculateDerivativeCurvePoint(Spline_Inf* spline_inf, double u_data, int differential_times, bool UsingNURBS);
robot_geometry_msgs::Point CalculateCurvePoint(Spline_Inf* spline_inf, double u_data, bool UsingNURBS);
double CalculateCurvature(Spline_Inf spline_inf, double u_data, bool UsingNURBS);
double CalculateSignedCurvature(Spline_Inf spline_inf, double u_data, bool UsingNURBS);
Eigen::Vector3d CalculateCurvatureDirectionVector(Spline_Inf spline_inf, double u_data, bool UsingNURBS);
@@ -65,15 +65,15 @@ public:
void ReadSplineInf(Spline_Inf* bspline_inf, std::vector<double> weight_vector, bool use_limit_derivative_fitting);
void ReadDiscreate2DPointFromLaunch(EigenTrajectoryPoint::Vector* input_point, std::vector<double> file_discreate_point);
void ReadDiscreate2DPointFromLaunch(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> >* input_point, std::vector<double> file_discreate_point);
void ShowDiscreatePoint(visualization_msgs::Marker* points, EigenTrajectoryPoint::Vector discreate_point);
void ShowDiscreatePoint(visualization_msgs::Marker* points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point);
void ShowDiscreatePoint(robot_visualization_msgs::Marker* points, EigenTrajectoryPoint::Vector discreate_point);
void ShowDiscreatePoint(robot_visualization_msgs::Marker* points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point);
//TODO: move relate visualize function to new vislization.h
int print();
visualization_msgs::Marker ShowDiscreatePoint(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint2(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, std_msgs::ColorRGBA point_color, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, const std::string& name, double scale);
visualization_msgs::Marker ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, std_msgs::ColorRGBA point_color, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint2(EigenTrajectoryPoint::Vector& discreate_point, const std::string& frame_id, robot_std_msgs::ColorRGBA point_color, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, const std::string& name, double scale);
robot_visualization_msgs::Marker ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > discreate_point, const std::string& frame_id, robot_std_msgs::ColorRGBA point_color, const std::string& name, double scale);
private:

58
package.xml Normal file
View File

@@ -0,0 +1,58 @@
<package>
<name>dock_planner</name>
<version>0.7.10</version>
<description>
dock_planner is the second generation of the transform library, which lets
the user keep track of multiple coordinate frames over time. dock_planner
maintains the relationship between coordinate frames in a tree
structure buffered in time, and lets the user transform points,
vectors, etc between any two coordinate frames at any desired
point in time.
</description>
<author>Tully Foote</author>
<author>Eitan Marder-Eppstein</author>
<author>Wim Meeussen</author>
<maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
<license>BSD</license>
<url type="website">http://www.ros.org/wiki/dock_planner</url>
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>robot_costmap_2d</build_depend>
<run_depend>robot_costmap_2d</run_depend>
<build_depend>robot_nav_core</build_depend>
<run_depend>robot_nav_core</run_depend>
<build_depend>robot_geometry_msgs</build_depend>
<run_depend>robot_geometry_msgs</run_depend>
<build_depend>robot_nav_msgs</build_depend>
<run_depend>robot_nav_msgs</run_depend>
<build_depend>robot_std_msgs</build_depend>
<run_depend>robot_std_msgs</run_depend>
<build_depend>robot_cpp</build_depend>
<run_depend>robot_cpp</run_depend>
<build_depend>robot_time</build_depend>
<run_depend>robot_time</run_depend>
<build_depend>robot_visualization_msgs</build_depend>
<run_depend>robot_visualization_msgs</run_depend>
<build_depend>data_convert</build_depend>
<run_depend>data_convert</run_depend>
<build_depend>robot_nav_2d_msgs</build_depend>
<run_depend>robot_nav_2d_msgs</run_depend>
<build_depend>robot_nav_2d_utils</build_depend>
<run_depend>robot_nav_2d_utils</run_depend>
</package>

132
src/dock_calc.cpp
View File

@@ -18,15 +18,15 @@ namespace dock_planner
delete input_spline_inf;
}
geometry_msgs::Pose DockCalc::offsetPoint(const geometry_msgs::Pose& A, const double& theta, const double& d)
robot_geometry_msgs::Pose DockCalc::offsetPoint(const robot_geometry_msgs::Pose& A, const double& theta, const double& d)
{
geometry_msgs::Pose B;
robot_geometry_msgs::Pose B;
B.position.x = A.position.x + d * std::cos(theta);
B.position.y = A.position.y + d * std::sin(theta);
return B;
}
double DockCalc::pointToSegmentDistance(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C)
double DockCalc::pointToSegmentDistance(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C)
{
double theta = signedAngle(A,B,C);
double sin_theta = sin(fabs(theta));
@@ -35,7 +35,7 @@ namespace dock_planner
return distance;
}
double DockCalc::signedAngle(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C)
double DockCalc::signedAngle(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C)
{
double ABx = B.position.x - A.position.x;
double ABy = B.position.y - A.position.y;
@@ -50,7 +50,7 @@ namespace dock_planner
return angle;
}
double DockCalc::compute_t(const geometry_msgs::Pose& A, const geometry_msgs::Pose& B, const geometry_msgs::Pose& C)
double DockCalc::compute_t(const robot_geometry_msgs::Pose& A, const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C)
{
constexpr double epsilon = 1e-6;
double dx = C.position.x - B.position.x;
@@ -69,15 +69,15 @@ namespace dock_planner
return -numerator / denominator;
}
geometry_msgs::Pose DockCalc::compute_D(const geometry_msgs::Pose& B, const geometry_msgs::Pose& C, const double& t)
robot_geometry_msgs::Pose DockCalc::compute_D(const robot_geometry_msgs::Pose& B, const robot_geometry_msgs::Pose& C, const double& t)
{
geometry_msgs::Pose D;
robot_geometry_msgs::Pose D;
D.position.x = B.position.x + t * (C.position.x - B.position.x);
D.position.y = B.position.y + t * (C.position.y - B.position.y);
return D;
}
RobotGeometry DockCalc::computeGeometry(const std::vector<geometry_msgs::Point>& fp)
RobotGeometry DockCalc::computeGeometry(const std::vector<robot_geometry_msgs::Point>& fp)
{
double min_x = 1e9, max_x = -1e9;
double min_y = 1e9, max_y = -1e9;
@@ -99,12 +99,12 @@ namespace dock_planner
return {length, width, radius};
}
bool DockCalc::makePlanMoveToDock(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal,
const vector<geometry_msgs::Point>& footprint_robot,
const vector<geometry_msgs::Point>& footprint_dock,
bool DockCalc::makePlanMoveToDock(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal,
const vector<robot_geometry_msgs::Point>& footprint_robot,
const vector<robot_geometry_msgs::Point>& footprint_dock,
const int& degree, const double& step,
vector<geometry_msgs::Pose>& planMoveToDock,
vector<robot_geometry_msgs::Pose>& planMoveToDock,
bool reverse)
{
constexpr double epsilon = 1e-6;
@@ -141,10 +141,10 @@ namespace dock_planner
}
// Lambda: Generate NURBS path
auto generateNURBSPath = [&](const vector<geometry_msgs::Pose>& control_points, bool check_isFreeSpace,
bool edge_end_plag, bool path_reverse) -> vector<geometry_msgs::Pose>
auto generateNURBSPath = [&](const vector<robot_geometry_msgs::Pose>& control_points, bool check_isFreeSpace,
bool edge_end_plag, bool path_reverse) -> vector<robot_geometry_msgs::Pose>
{
vector<geometry_msgs::Pose> result;
vector<robot_geometry_msgs::Pose> result;
bool obstacle_flag = false;
// Convert to Eigen format
@@ -180,14 +180,14 @@ namespace dock_planner
// robot::log_error("[dock_calc] Adaptive step size: %f", step_new);
// Generate path points
vector<geometry_msgs::Pose> saved_poses;
vector<robot_geometry_msgs::Pose> saved_poses;
for (double t = 0.0; t <= 1.0; t += step_new)
{
geometry_msgs::Point point = CurveDesign->CalculateCurvePoint(input_spline_inf, t, true);
robot_geometry_msgs::Point point = CurveDesign->CalculateCurvePoint(input_spline_inf, t, true);
if (!std::isnan(point.x) && !std::isnan(point.y))
{
geometry_msgs::Pose pose;
robot_geometry_msgs::Pose pose;
pose.position = point;
pose.orientation = data_convert::createQuaternionMsgFromYaw(0.0);
@@ -261,9 +261,9 @@ namespace dock_planner
min_distance_to_goal_ = (safety_distance_ + distance_dock / 2.0);
// Calculate pose C (offset from goal)
geometry_msgs::Pose Goal_Pose = goal.pose;
robot_geometry_msgs::Pose Goal_Pose = goal.pose;
double yaw_goal = normalizeAngle(data_convert::getYaw(goal.pose.orientation));
geometry_msgs::Pose Pose_C = offsetPoint(Goal_Pose, yaw_goal, distance_min_for_pose_C);
robot_geometry_msgs::Pose Pose_C = offsetPoint(Goal_Pose, yaw_goal, distance_min_for_pose_C);
// Compute t parameter and determine direction
double t = compute_t(start.pose, goal.pose, Pose_C);
@@ -288,7 +288,7 @@ namespace dock_planner
}
// Calculate pose D and distance AD
geometry_msgs::Pose Pose_D = compute_D(goal.pose, Pose_C, t);
robot_geometry_msgs::Pose Pose_D = compute_D(goal.pose, Pose_C, t);
double distance_AD = pointToSegmentDistance(start.pose, goal.pose, Pose_C);
// Calculate angle threshold with scaling
@@ -308,13 +308,13 @@ namespace dock_planner
double distance_DF = distance_AD / tan(angle_alpha);
double distance_min_for_pose_F = distance_min_for_pose_C + distance_CD + distance_DF;
geometry_msgs::Pose Pose_F = offsetPoint(Goal_Pose, yaw_goal, distance_min_for_pose_F);
geometry_msgs::Pose mid_pose;
robot_geometry_msgs::Pose Pose_F = offsetPoint(Goal_Pose, yaw_goal, distance_min_for_pose_F);
robot_geometry_msgs::Pose mid_pose;
mid_pose.position.x = (Pose_C.position.x + Pose_F.position.x) / 2.0;
mid_pose.position.y = (Pose_C.position.y + Pose_F.position.y) / 2.0;
vector<geometry_msgs::Pose> control_points_tmp = {Pose_C, mid_pose, Pose_F};
vector<geometry_msgs::Pose> saved_poses_tmp;
vector<robot_geometry_msgs::Pose> control_points_tmp = {Pose_C, mid_pose, Pose_F};
vector<robot_geometry_msgs::Pose> saved_poses_tmp;
if (!findPathTMP(control_points_tmp, saved_poses_tmp, degree, step))
@@ -325,7 +325,7 @@ namespace dock_planner
// Find first segment control points
int dir;
vector<geometry_msgs::Pose> control_points_1;
vector<robot_geometry_msgs::Pose> control_points_1;
if (!findNURBSControlPoints(dir, control_points_1, start.pose, saved_poses_tmp, angle_threshold, degree))
{
robot::log_error("[dock_calc] Failed to find NURBS control points for first segment.");
@@ -337,21 +337,21 @@ namespace dock_planner
((dir == 1 || dir == 0) && dir_robot_move_to_goal);
// Generate first segment
vector<geometry_msgs::Pose> first_segment = generateNURBSPath(control_points_1, true, false, first_segment_reverse);
vector<robot_geometry_msgs::Pose> first_segment = generateNURBSPath(control_points_1, true, false, first_segment_reverse);
planMoveToDock.insert(planMoveToDock.end(), first_segment.begin(), first_segment.end());
//Generate second segment (to goal)
if (!planMoveToDock.empty())
{
geometry_msgs::Pose mid_control_point;
robot_geometry_msgs::Pose mid_control_point;
mid_control_point.position.x = (planMoveToDock.back().position.x + goal.pose.position.x) / 2.0;
mid_control_point.position.y = (planMoveToDock.back().position.y + goal.pose.position.y) / 2.0;
vector<geometry_msgs::Pose> control_points_2 = {planMoveToDock.back(),
vector<robot_geometry_msgs::Pose> control_points_2 = {planMoveToDock.back(),
mid_control_point,
goal.pose};
vector<geometry_msgs::Pose> second_segment = generateNURBSPath(control_points_2, true, true, dir_robot_move_to_goal);
vector<robot_geometry_msgs::Pose> second_segment = generateNURBSPath(control_points_2, true, true, dir_robot_move_to_goal);
planMoveToDock.insert(planMoveToDock.end(), second_segment.begin(), second_segment.end());
planMoveToDock.insert(planMoveToDock.begin(),start.pose);
planMoveToDock.insert(planMoveToDock.end(),goal.pose);
@@ -360,8 +360,8 @@ namespace dock_planner
return !planMoveToDock.empty();
}
bool DockCalc::findPathTMP(const vector<geometry_msgs::Pose>& control_points,
vector<geometry_msgs::Pose>& saved_poses,
bool DockCalc::findPathTMP(const vector<robot_geometry_msgs::Pose>& control_points,
vector<robot_geometry_msgs::Pose>& saved_poses,
const int& degree, double step)
{
// Chuyển đổi control points sang định dạng Eigen::Vector3d
@@ -393,15 +393,15 @@ namespace dock_planner
CurveDesign->ReadSplineInf(input_spline_inf, degree + 1, eigen_control_points, knot_vector);
CurveDesign->ReadSplineInf(input_spline_inf, weights, false);
// vector<geometry_msgs::Pose> poses_tmp;
// vector<robot_geometry_msgs::Pose> poses_tmp;
for(double t = 0.0; t <= 1.0; t += step)
{
// robot::log_error("[dock_calc][findPathTMP] t(%f) DEBUG 10", t);
geometry_msgs::Point point = CurveDesign->CalculateCurvePoint(input_spline_inf, t, true);
robot_geometry_msgs::Point point = CurveDesign->CalculateCurvePoint(input_spline_inf, t, true);
if(!std::isnan(point.x) && !std::isnan(point.y))
{
// robot::log_error("[dock_calc][findPathTMP] point(%f, %f) at t(%f)", point.x, point.y, t);
geometry_msgs::Pose pose;
robot_geometry_msgs::Pose pose;
pose.position = point;
pose.orientation.x = 0.0;
pose.orientation.y = 0.0;
@@ -432,8 +432,8 @@ namespace dock_planner
return true;
}
void DockCalc::updatePoseOrientation(std::vector<geometry_msgs::Pose>& saved_poses,
std::vector<geometry_msgs::Pose>& nurbs_path,
void DockCalc::updatePoseOrientation(std::vector<robot_geometry_msgs::Pose>& saved_poses,
std::vector<robot_geometry_msgs::Pose>& nurbs_path,
bool reverse)
{
double yaw;
@@ -465,7 +465,7 @@ namespace dock_planner
double initial_step)
{
double length = 0.0;
geometry_msgs::Point prev_point, curr_point;
robot_geometry_msgs::Point prev_point, curr_point;
std::vector<double> segment_lengths;
static double step;
@@ -492,9 +492,9 @@ namespace dock_planner
return length;
}
bool DockCalc::findNURBSControlPoints(int& dir, vector<geometry_msgs::Pose>& control_points,
const geometry_msgs::Pose& start_pose,
const std::vector<geometry_msgs::Pose>& saved_poses,
bool DockCalc::findNURBSControlPoints(int& dir, vector<robot_geometry_msgs::Pose>& control_points,
const robot_geometry_msgs::Pose& start_pose,
const std::vector<robot_geometry_msgs::Pose>& saved_poses,
const double& angle_threshold, const int& degree)
{
if (saved_poses.empty())
@@ -507,9 +507,9 @@ namespace dock_planner
int idx = findNearestPointOnPath(dir, start_pose, saved_poses, angle_threshold);
// Helper lambda to create pose at position
auto createPose = [](double x, double y, double yaw = 0.0) -> geometry_msgs::Pose
auto createPose = [](double x, double y, double yaw = 0.0) -> robot_geometry_msgs::Pose
{
geometry_msgs::Pose pose;
robot_geometry_msgs::Pose pose;
pose.position.x = x;
pose.position.y = y;
pose.orientation = data_convert::createQuaternionMsgFromYaw(0);
@@ -584,8 +584,8 @@ namespace dock_planner
return true;
}
int DockCalc::findNearestPointOnPath(int& dir, const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Pose>& saved_poses,
int DockCalc::findNearestPointOnPath(int& dir, const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Pose>& saved_poses,
const double& angle_threshol)
{
// Tìm điểm gần nhất
@@ -657,14 +657,14 @@ namespace dock_planner
return nearest_idx;
}
bool DockCalc::isFreeSpace(const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Point>& footprint)
bool DockCalc::isFreeSpace(const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Point>& footprint)
{
// static std::vector<geometry_msgs::Pose> free_zone;
// static std::vector<robot_geometry_msgs::Pose> free_zone;
// auto makePose = [](double x, double y, double yaw)
// {
// geometry_msgs::Pose p;
// robot_geometry_msgs::Pose p;
// p.position.x = x;
// p.position.y = y;
// p.position.z = 0.0;
@@ -696,17 +696,17 @@ namespace dock_planner
// if(check_goal_)
// {
// std::vector<geometry_msgs::Point> result_free_zone = calcFreeZone(pose, footprint);
// std::vector<robot_geometry_msgs::Point> result_free_zone = calcFreeZone(pose, footprint);
// if((int)result_free_zone.size() < 4) return false;
// free_zone.push_back(makePose(result_free_zone[0].x, result_free_zone[0].y, 0.0));
// free_zone.push_back(makePose(result_free_zone[1].x, result_free_zone[1].y, 0.0));
// free_zone.push_back(makePose(result_free_zone[2].x, result_free_zone[2].y, 0.0));
// check_goal_ = false;
// }
// std::vector<geometry_msgs::Point> space_footprint = interpolateFootprint(pose, footprint, resolution);
// std::vector<robot_geometry_msgs::Point> space_footprint = interpolateFootprint(pose, footprint, resolution);
// for (int i = 0; i < (int)space_footprint.size(); i++)
// {
// geometry_msgs::Pose Pose_on_footprint;
// robot_geometry_msgs::Pose Pose_on_footprint;
// Pose_on_footprint.position.x = space_footprint[i].x;
// Pose_on_footprint.position.y = space_footprint[i].y;
// if((int)free_zone.size() < 3) return false;
@@ -728,7 +728,7 @@ namespace dock_planner
// check_y >= 0 && check_y < costmap_->getSizeInCellsY())
// {
// unsigned char cost = costmap_->getCost(check_x, check_y);
// if (cost >= costmap_2d::LETHAL_OBSTACLE)
// if (cost >= robot_costmap_2d::LETHAL_OBSTACLE)
// {
// double dx = pose.position.x - space_footprint[i].x;
// double dy = pose.position.y - space_footprint[i].y;
@@ -745,11 +745,11 @@ namespace dock_planner
return true;
}
std::vector<geometry_msgs::Point> DockCalc::calcFreeZone(const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Point>& footprint)
std::vector<robot_geometry_msgs::Point> DockCalc::calcFreeZone(const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Point>& footprint)
{
// Dịch sang tọa độ tuyệt đối
std::vector<geometry_msgs::Point> free_zone;
std::vector<robot_geometry_msgs::Point> free_zone;
double cos_th = std::cos(data_convert::getYaw(pose.orientation));
double sin_th = std::sin(data_convert::getYaw(pose.orientation));
for (auto pt : footprint)
@@ -757,7 +757,7 @@ namespace dock_planner
pt.x *= 1.2;
pt.y *= 1.2;
geometry_msgs::Point abs_pt;
robot_geometry_msgs::Point abs_pt;
abs_pt.x = pose.position.x + pt.x * cos_th - pt.y * sin_th;
abs_pt.y = pose.position.y + pt.x * sin_th + pt.y * cos_th;
free_zone.push_back(abs_pt);
@@ -765,29 +765,29 @@ namespace dock_planner
return free_zone;
}
std::vector<geometry_msgs::Point> DockCalc::interpolateFootprint(const geometry_msgs::Pose& pose,
const std::vector<geometry_msgs::Point>& footprint, const double& resolution)
std::vector<robot_geometry_msgs::Point> DockCalc::interpolateFootprint(const robot_geometry_msgs::Pose& pose,
const std::vector<robot_geometry_msgs::Point>& footprint, const double& resolution)
{
// Dịch sang tọa độ tuyệt đối
std::vector<geometry_msgs::Point> abs_footprint;
std::vector<robot_geometry_msgs::Point> abs_footprint;
double cos_th = std::cos(data_convert::getYaw(pose.orientation));
double sin_th = std::sin(data_convert::getYaw(pose.orientation));
for (auto pt : footprint)
{
pt.x *= 1.1;
pt.y *= 1.1;
geometry_msgs::Point abs_pt;
robot_geometry_msgs::Point abs_pt;
abs_pt.x = pose.position.x + pt.x * cos_th - pt.y * sin_th;
abs_pt.y = pose.position.y + pt.x * sin_th + pt.y * cos_th;
abs_footprint.push_back(abs_pt);
}
std::vector<geometry_msgs::Point> points;
std::vector<robot_geometry_msgs::Point> points;
for (size_t i = 0; i < (int)abs_footprint.size(); ++i)
{
const geometry_msgs::Point &start = abs_footprint[i];
const geometry_msgs::Point &end = abs_footprint[(i + 1) % abs_footprint.size()];
const robot_geometry_msgs::Point &start = abs_footprint[i];
const robot_geometry_msgs::Point &end = abs_footprint[(i + 1) % abs_footprint.size()];
double dx = end.x - start.x;
double dy = end.y - start.y;
@@ -799,7 +799,7 @@ namespace dock_planner
if (j == steps && i != (int)abs_footprint.size() - 1)
continue; // tránh lặp
double t = static_cast<double>(j) / steps;
geometry_msgs::Point pt;
robot_geometry_msgs::Point pt;
pt.x = start.x + t * dx;
pt.y = start.y + t * dy;
points.push_back(pt);

38
src/dock_planner.cpp
View File

@@ -1,6 +1,7 @@
#include "dock_planner/dock_planner.h"
#include <cmath>
#include <algorithm>
#include <boost/dll/alias.hpp>
namespace dock_planner
{
@@ -21,7 +22,7 @@ namespace dock_planner
* @param costmap_robot Pointer tới costmap ROS wrapper
* Tự động gọi initialize() nếu được cung cấp costmap
*/
DockPlanner::DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot)
DockPlanner::DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
: costmap_robot_(nullptr),
costmap_(nullptr),
initialized_(false),
@@ -43,7 +44,7 @@ namespace dock_planner
* - Load parameters từ ROS parameter server
* - Đánh dấu trạng thái initialized
*/
bool DockPlanner::initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot)
bool DockPlanner::initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
{
if (!initialized_)
{
@@ -63,13 +64,13 @@ namespace dock_planner
calc_plan_to_dock_.calib_safety_distance_ = calib_safety_distance_;
// plan_pub_ = private_nh.advertise<nav_msgs::Path>("plan", 1);
// plan_pub_ = private_nh.advertise<robot_nav_msgs::Path>("plan", 1);
nav_2d_msgs::Polygon2D footprint_dock ;//= nav_2d_utils::footprintFromParams(private_nh,false);
robot_nav_2d_msgs::Polygon2D footprint_dock ;//= robot_nav_2d_utils::footprintFromParams(private_nh,false);
for(auto pt : footprint_dock.points)
{
geometry_msgs::Point footprint_point;
robot_geometry_msgs::Point footprint_point;
footprint_point.x = pt.x;
footprint_point.y = pt.y;
footprint_point.z = 0.0;
@@ -79,16 +80,17 @@ namespace dock_planner
initialized_ = true;
// ROS_WARN("[dock_planner] check_free_space_(%d)", check_free_space_);
}
return true;
}
bool DockPlanner::makePlan(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal,
std::vector<geometry_msgs::PoseStamped>& plan)
bool DockPlanner::makePlan(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal,
std::vector<robot_geometry_msgs::PoseStamped>& plan)
{
if(!initialized_) return false;
if(!plan.empty()) plan.clear();
vector<geometry_msgs::Pose> planMoveToDock;
std::vector<geometry_msgs::Point> footprint_robot = costmap_robot_->getRobotFootprint();
vector<robot_geometry_msgs::Pose> planMoveToDock;
std::vector<robot_geometry_msgs::Point> footprint_robot = costmap_robot_->getRobotFootprint();
// footprint_dock_ = costmap_robot_->getRobotFootprint();
int degree = 2;
@@ -99,7 +101,7 @@ namespace dock_planner
if(!status_makePlanMoveToDock) return false;
for(int i = 0; i < (int)planMoveToDock.size(); i++)
{
geometry_msgs::PoseStamped pose;
robot_geometry_msgs::PoseStamped pose;
pose.header.stamp = plan_time;
pose.header.frame_id = costmap_robot_->getGlobalFrameID();
pose.pose.position.x = planMoveToDock[i].position.x;
@@ -108,17 +110,25 @@ namespace dock_planner
pose.pose.orientation = planMoveToDock[i].orientation;
plan.push_back(pose);
}
publishPlan(plan);
return true;
}
// void DockPlanner::publishPlan(const std::vector<geometry_msgs::PoseStamped>& plan)
// void DockPlanner::publishPlan(const std::vector<robot_geometry_msgs::PoseStamped>& plan)
// {
// nav_msgs::Path path_msg;
// robot_nav_msgs::Path path_msg;
// path_msg.header.stamp = robot::Time::now();
// path_msg.header.frame_id = frame_id_;
// path_msg.poses = plan;
// plan_pub_.publish(path_msg);
// }
// Export factory function
robot_nav_core::BaseGlobalPlanner::Ptr DockPlanner::create() {
return std::make_shared<dock_planner::DockPlanner>();
}
} // namespace dock_planner
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(dock_planner::DockPlanner::create, DockPlanner)

90
src/utils/curve_common.cpp
View File

@@ -1,16 +1,16 @@
#include "dock_planner/utils/curve_common.h"
#include "dock_planner/utils/conversion.h"
#include <geometry_msgs/PoseStamped.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <iostream>
CurveCommon::CurveCommon()
{
}
nav_msgs::Path CurveCommon::Generate_Line(geometry_msgs::Point start_point, geometry_msgs::Point end_point, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_Line(robot_geometry_msgs::Point start_point, robot_geometry_msgs::Point end_point, double t_intervel, std::string frame_id)
{
nav_msgs::Path line_result;
geometry_msgs::PoseStamped current_pose;
robot_nav_msgs::Path line_result;
robot_geometry_msgs::PoseStamped current_pose;
line_result.header.frame_id = frame_id;
line_result.header.stamp = robot::Time::now();
@@ -35,10 +35,10 @@ nav_msgs::Path CurveCommon::Generate_Line(geometry_msgs::Point start_point, geom
return line_result;
}
nav_msgs::Path CurveCommon::Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_BezierCurve(EigenTrajectoryPoint::Vector control_point, double t_intervel, std::string frame_id)
{
nav_msgs::Path bezier_curve_result;
geometry_msgs::PoseStamped current_pose;
robot_nav_msgs::Path bezier_curve_result;
robot_geometry_msgs::PoseStamped current_pose;
EigenTrajectoryPoint::Vector temp_control_point_vec;
bezier_curve_result.header.frame_id = frame_id;
@@ -133,13 +133,13 @@ void CurveCommon::ReadDiscreate2DPointFromLaunch(std::vector<Eigen::Vector3d, Ei
// }
}
visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point, const std::string &frame_id, const std::string &name, double scale)
robot_visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point, const std::string &frame_id, const std::string &name, double scale)
{
visualization_msgs::Marker waypoints_marker;
robot_visualization_msgs::Marker waypoints_marker;
waypoints_marker.header.frame_id = frame_id;
waypoints_marker.header.stamp = robot::Time::now();
waypoints_marker.type = visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.type = robot_visualization_msgs::Marker::SPHERE_LIST;
// waypoints_marker.color = color;
waypoints_marker.color.r = 1;
waypoints_marker.color.g = 1;
@@ -151,7 +151,7 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(std::vector<Eigen::Ve
waypoints_marker.points.reserve(discreate_point.size());
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i)(0);
@@ -162,13 +162,13 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(std::vector<Eigen::Ve
return waypoints_marker;
}
visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point, const std::string &frame_id, std_msgs::ColorRGBA point_color, const std::string &name, double scale)
robot_visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point, const std::string &frame_id, robot_std_msgs::ColorRGBA point_color, const std::string &name, double scale)
{
visualization_msgs::Marker waypoints_marker;
robot_visualization_msgs::Marker waypoints_marker;
waypoints_marker.header.frame_id = frame_id;
waypoints_marker.header.stamp = robot::Time::now();
waypoints_marker.type = visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.type = robot_visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.color = point_color;
waypoints_marker.color.a = 0.75;
waypoints_marker.ns = name;
@@ -178,7 +178,7 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(std::vector<Eigen::V
waypoints_marker.points.reserve(discreate_point.size());
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i)(0);
@@ -189,13 +189,13 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(std::vector<Eigen::V
return waypoints_marker;
}
visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(EigenTrajectoryPoint::Vector &discreate_point, const std::string &frame_id, const std::string &name, double scale)
robot_visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(EigenTrajectoryPoint::Vector &discreate_point, const std::string &frame_id, const std::string &name, double scale)
{
visualization_msgs::Marker waypoints_marker;
robot_visualization_msgs::Marker waypoints_marker;
waypoints_marker.header.frame_id = frame_id;
waypoints_marker.header.stamp = robot::Time::now();
waypoints_marker.type = visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.type = robot_visualization_msgs::Marker::SPHERE_LIST;
// waypoints_marker.color = color;
waypoints_marker.color.r = 1;
waypoints_marker.color.g = 1;
@@ -207,7 +207,7 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(EigenTrajectoryPoint:
waypoints_marker.points.reserve(discreate_point.size());
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i).position(0);
@@ -218,13 +218,13 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint(EigenTrajectoryPoint:
return waypoints_marker;
}
visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(EigenTrajectoryPoint::Vector &discreate_point, const std::string &frame_id, std_msgs::ColorRGBA point_color, const std::string &name, double scale)
robot_visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(EigenTrajectoryPoint::Vector &discreate_point, const std::string &frame_id, robot_std_msgs::ColorRGBA point_color, const std::string &name, double scale)
{
visualization_msgs::Marker waypoints_marker;
robot_visualization_msgs::Marker waypoints_marker;
waypoints_marker.header.frame_id = frame_id;
waypoints_marker.header.stamp = robot::Time::now();
waypoints_marker.type = visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.type = robot_visualization_msgs::Marker::SPHERE_LIST;
waypoints_marker.color = point_color;
// waypoints_marker.color.r = r;
// waypoints_marker.color.g = g;
@@ -237,7 +237,7 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(EigenTrajectoryPoint
waypoints_marker.points.reserve(discreate_point.size());
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i).position(0);
@@ -248,9 +248,9 @@ visualization_msgs::Marker CurveCommon::ShowDiscreatePoint2(EigenTrajectoryPoint
return waypoints_marker;
}
void CurveCommon::ShowDiscreatePoint(visualization_msgs::Marker *points, EigenTrajectoryPoint::Vector discreate_point)
void CurveCommon::ShowDiscreatePoint(robot_visualization_msgs::Marker *points, EigenTrajectoryPoint::Vector discreate_point)
{
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i).position(0);
@@ -259,9 +259,9 @@ void CurveCommon::ShowDiscreatePoint(visualization_msgs::Marker *points, EigenTr
}
}
void CurveCommon::ShowDiscreatePoint(visualization_msgs::Marker *points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point)
void CurveCommon::ShowDiscreatePoint(robot_visualization_msgs::Marker *points, std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> discreate_point)
{
geometry_msgs::Point view_point;
robot_geometry_msgs::Point view_point;
for (int i = 0; i < discreate_point.size(); i++)
{
view_point.x = discreate_point.at(i)(0);
@@ -322,10 +322,10 @@ void CurveCommon::ReadSplineInf(Spline_Inf *spline_inf, std::vector<double> weig
// }
}
nav_msgs::Path CurveCommon::Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_BsplineCurve(Spline_Inf bspline_inf, double t_intervel, std::string frame_id)
{
nav_msgs::Path bspline_curve_result;
geometry_msgs::PoseStamped current_pose;
robot_nav_msgs::Path bspline_curve_result;
robot_geometry_msgs::PoseStamped current_pose;
bspline_curve_result.header.frame_id = frame_id;
bspline_curve_result.header.stamp = robot::Time::now();
@@ -495,10 +495,10 @@ nav_msgs::Path CurveCommon::Generate_BsplineCurve(Spline_Inf bspline_inf, double
return bspline_curve_result;
}
nav_msgs::Path CurveCommon::Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_NURBSCurve(Spline_Inf spline_inf, double t_intervel, std::string frame_id)
{
nav_msgs::Path nurbs_curve_result;
geometry_msgs::PoseStamped current_pose;
robot_nav_msgs::Path nurbs_curve_result;
robot_geometry_msgs::PoseStamped current_pose;
nurbs_curve_result.header.frame_id = frame_id;
nurbs_curve_result.header.stamp = robot::Time::now();
@@ -749,9 +749,9 @@ void CurveCommon::CalculateDerivativeBasisFunc(Spline_Inf *spline_inf, double u_
}
}
geometry_msgs::Point CurveCommon::CalculateDerivativeCurvePoint(Spline_Inf *spline_inf, double u_data, int differential_times, bool UsingNURBS)
robot_geometry_msgs::Point CurveCommon::CalculateDerivativeCurvePoint(Spline_Inf *spline_inf, double u_data, int differential_times, bool UsingNURBS)
{
geometry_msgs::Point derivative_curve_point;
robot_geometry_msgs::Point derivative_curve_point;
int p_degree = spline_inf->order - 1;
double sum_x = 0, sum_y = 0;
double sum_denom = 0;
@@ -873,11 +873,11 @@ geometry_msgs::Point CurveCommon::CalculateDerivativeCurvePoint(Spline_Inf *spli
return derivative_curve_point;
}
nav_msgs::Path CurveCommon::Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_DerivativeBsplineCurve(Spline_Inf bspline_inf, int differential_times, double t_intervel, std::string frame_id)
{
geometry_msgs::Point derivative_point_result;
nav_msgs::Path bspline_derivative_result;
geometry_msgs::PoseStamped current_pose;
robot_geometry_msgs::Point derivative_point_result;
robot_nav_msgs::Path bspline_derivative_result;
robot_geometry_msgs::PoseStamped current_pose;
bspline_derivative_result.header.frame_id = frame_id;
bspline_derivative_result.header.stamp = robot::Time::now();
@@ -916,11 +916,11 @@ nav_msgs::Path CurveCommon::Generate_DerivativeBsplineCurve(Spline_Inf bspline_i
return bspline_derivative_result;
}
nav_msgs::Path CurveCommon::Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id)
robot_nav_msgs::Path CurveCommon::Generate_DerivativeBasisFuncCurve(Spline_Inf bspline_inf, int differential_times, int index, double t_intervel, std::string frame_id)
{
geometry_msgs::Point derivative_point_result;
nav_msgs::Path derivative_basis_result;
geometry_msgs::PoseStamped current_pose;
robot_geometry_msgs::Point derivative_point_result;
robot_nav_msgs::Path derivative_basis_result;
robot_geometry_msgs::PoseStamped current_pose;
derivative_basis_result.header.frame_id = frame_id;
derivative_basis_result.header.stamp = robot::Time::now();
@@ -1166,11 +1166,11 @@ bool CurveCommon::curveIsValid(int degree, const std::vector<double> &knot_vecto
return true;
}
geometry_msgs::Point CurveCommon::CalculateCurvePoint(Spline_Inf *spline_inf, double u_data, bool UsingNURBS)
robot_geometry_msgs::Point CurveCommon::CalculateCurvePoint(Spline_Inf *spline_inf, double u_data, bool UsingNURBS)
{
// TODO: Check u = 1 bug, why x=nan and y=nan?
geometry_msgs::Point curve_point;
robot_geometry_msgs::Point curve_point;
int p_degree = spline_inf->order - 1;
int n = spline_inf->control_point.size() - 1;
// TODO: Check knot vector size and sequence is correect