commit 84d4becbdff02759335d8f8928ec063bae10033f Author: duongtd Date: Tue Jul 28 23:44:14 2026 +0700 first commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..872a0d4 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,177 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sbpl_lattice_planner VERSION 1.0.0 LANGUAGES CXX) + +if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL) + set(BUILDING_WITH_CATKIN TRUE) + message(STATUS "Building sbpl_lattice_planner with Catkin") + +else() + set(BUILDING_WITH_CATKIN FALSE) + message(STATUS "Building sbpl_lattice_planner with Standalone CMake") +endif() + +# C++ Standard - must be set before find_package +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) + +# Find dependencies +find_package(SBPL REQUIRED) +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_std_msgs + robot_geometry_msgs + tf3 + robot_tf3_geometry_msgs + robot_time + data_convert + robot_costmap_2d + robot_nav_core + robot_protocol_msgs + robot_cpp + ) + +else() + +# ======================================================== +# Catkin specific configuration +# ======================================================== + find_package(catkin REQUIRED COMPONENTS + robot_visualization_msgs + robot_nav_msgs + robot_std_msgs + robot_geometry_msgs + robot_tf3_geometry_msgs + robot_time + data_convert + robot_costmap_2d + robot_nav_core + robot_protocol_msgs + robot_cpp + ) + + find_library(TF3_LIBRARY NAMES tf3) + + catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_std_msgs robot_geometry_msgs robot_tf3_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_protocol_msgs robot_cpp + DEPENDS Eigen3 Boost SBPL + ) + + include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ) +endif() + +# ======================================================== +# Libraries +# ======================================================== +add_library(${PROJECT_NAME} SHARED + src/sbpl_lattice_planner.cpp +) + +if(BUILDING_WITH_CATKIN) + add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + + target_include_directories(${PROJECT_NAME} + PUBLIC + $ + $ + ) + + target_link_libraries(${PROJECT_NAME} + PUBLIC ${catkin_LIBRARIES} ${SBPL_LIBRARIES} + PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem + ) + +else() + + target_include_directories(${PROJECT_NAME} + PUBLIC + $ + $ + ) + + target_link_libraries(${PROJECT_NAME} + PUBLIC + ${PACKAGES_DIR} + PRIVATE + Eigen3::Eigen Boost::system Boost::thread Boost::filesystem + ) + + set_target_properties(${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_std_msgs, robot_geometry_msgs, tf3, robot_tf3_geometry_msgs, robot_time, data_convert, robot_costmap_2d, robot_nav_core, robot_protocol_msgs, robot_cpp, Eigen3, Boost") + message(STATUS "=================================") +endif() diff --git a/README.md b/README.md new file mode 100644 index 0000000..b40abb2 --- /dev/null +++ b/README.md @@ -0,0 +1,184 @@ +sbpl_lattice_planner +==================== + +The `sbpl_lattice_planner` is a global planner plugin for +[move_base](https://wiki.ros.org/move_base) and wraps the +[SBPL search-based planning library](https://wiki.ros.org/sbpl). + +Paths are generated by combining a series of "motion primitives" which are +short, kinematically feasible motions. Planning is therefore done in x, y, and +theta dimensions, resulting in smooth paths that take robot orientation into +account, which is especially important if the robot is not assumed to be +circular or has nonholonomic constraints (e.g., the robot cannot move +sideways). Plans can be found using the `ARA*` planner or `AD*` planner from the +SBPL library. + +## Video + +[![SBPL lattice planner on PR2 robot](https://img.youtube.com/vi/WeXdCmEpRW0/0.jpg)](https://www.youtube.com/watch?v=WeXdCmEpRW0) + +## How to use + +This global planner can be used with `move_base` simply by setting the +`base_global_planner` parameter to `SBPLLatticePlanner`. Additionally, at the +very least the path to a motion primitive file must be specified shown below in +the list of parameters. + +### Example in Stage + +The package contains a launch file for testing the `sbpl_lattice_planner` as +the global planner for `move_base` using stage for 2D simulation: + +```bash +roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch +``` + +## ROS API + +### Published Topics + +`~/SBPLLatticePlanner/plan` ([nav\_msgs/Path](http://docs.ros.org/api/nav_msgs/html/msg/Path.html)) + +- The last plan computed by SBPL, published every time the planner computes a + new path, and used primarily for visualization purposes. + +`~/SBPLLatticePlanner/sbpl_lattice_planner_stats` ([sbpl\_lattice\_planner/SBPLLatticePlannerStats](http://docs.ros.org/api/sbpl_lattice_planner/html/msg/SBPLLatticePlannerStats.html)) + +- Statistics from the last planning request. Stats include: time taken to get + to the first and final solutions, number of state expansions taken to get the + first and final solutions, the epsilon (bound on the sub-optimality of the + solution) of the first and final solutions, and the size of the final + solution. + +`~/SBPLLatticePlanner/footprint_markers` ([visualization\_msgs/Marker](http://docs.ros.org/api/visualization_msgs/html/msg/Marker.html)) + +- The footprint markers along the planned path (for visualization in RViz). + +### Subscribed Topics + +None + +### Services + +None + +### Parameters + +`~/SBPLLatticePlanner/planner_type` (`string`, default: "ARAPlanner") + +- Specifies which planner to use. It can either be "ARAPlanner" for `ARA*` or + "ADPlanner" for `AD*`. + +`~/SBPLLatticePlanner/allocated_time` (`double`, default: 10.0) + +- The amount of time given to the planner to find a solution. If there is still + time remaining after the planner finds its sub-optimal initial solution + (specified by "initial_epsilon"), the planner will use up remaining time + improving the solution until it is optimal or until time runs out (whichever + comes first). + +`~/SBPLLatticePlanner/initial_epsilon` (`double`, default: 3.0) + +- The value the heuristic is scaled by for the first search. This value must + be greater or equal to 1. The larger this value is, the faster the search + tends to find a solution (likely sub-optimal if epsilon is larger than 1). + After the first search, the planner will continue to reduce the epsilon value + until it is 1 (optimal search). + +`~/SBPLLatticePlanner/environment_type` (`string`, default: "XYThetaLattice")) + +- The type of environment being searched. Currently, XYThetaLattice is the only + supported environment. + +`~/SBPLLatticePlanner/forward_search` (`bool`, default: false) + +- The direction the search is done in. If you are using `AD*`, you should use + backward search for fast replanning times. For `ARA*` it doesn't matter too + much which direction you use. + +`~/SBPLLatticePlanner/primitive_filename` (`string`, default: "") + +- The path to a motion primitive file. This MUST be specified by the user for + the planner to work. There is an example motion primitive file that can be + used in `matlab/mprim/pr2.mprim` in the SBPL package. If you want to generate + your own motion primitive file to match the kinematics of your robot or your + map resolution, there is are several `genmprim*.m` scripts in `matlab/mprim/` + in the SBPL package to help you. + +`~/SBPLLatticePlanner/force_scratch_limit` (`int`, default: 500) + +- The parameter only matters if you are using `AD*`. If at least this many map + cells have changed since the last plan was generated, the planner will not + reuse previous search information and instead plan from scratch. + +`~/SBPLLatticePlanner/nominalvel_mpersecs` (`double`, default: 0.4) + +- The linear velocity of the robot in meters/sec. + +`~/SBPLLatticePlanner/timetoturn45degsinplace_secs` (`double`, 0.6) + +- The time it takes the robot to turn 45 degrees in place in seconds. + +`~/SBPLLatticePlanner/lethal_obstacle` (`unsigned char`, default: 20) + +- The cost of an obstacle in the planner's version of the costmap. All other + values in the costmap are scaled accordingly. The obstacle cost is the + largest in the costmap_2d so by setting this parameter to something below its + obstacle thresh, we can get obstacle padding that is less harsh and more + reasonable. This will make the planner more likely to choose to go through + more narrow areas such as doorways. + +`~/SBPLLatticePlanner/publish_footprint_path` (`bool`, default: true) + +- Whether or not to publish the `footprint_markers` topic. + +`~/SBPLLatticePlanner/visualizer_skip_poses` (`int`, default: 5) + +- Only publish every nth pose on the `footprint_markers` topic. + +`~/SBPLLatticePlanner/allow_unknown` (`bool`, default: true) + +- Whether or not to allow planning through unknown space. + + +## Customizing your Motion Primitives + +Please refer to the [SBPL documentation](https://wiki.ros.org/sbpl) for +pre-made motion primitives for the PR2 (and other robots) as well as +instructions on how to generate your own custom motions. + + +## Choosing good costmap_2d parameters + +If the costmap_2d parameters are set incorrectly, sbpl_lattice_planner will +ignore the robot's footprint and incorrectly plan paths that lead into +obstacles. For this reason, the following two parameters of the global +costmap_2d have to be fine-tuned to your robot's footprint: + +* **inflation_radius:** Maximum distance from an obstacle at which costs are + incurred for planning paths. Must be greater or equal to the robot's + circumscribed radius. +* **cost_scaling_factor:** Exponential rate at which the obstacle cost drops + off (default: 10). Must be chosen so that the cost value is greater than 0 at + the robot's circumscribed radius. + +The most important of these two parameters is inflation_radius. If this +parameter is less than the robot's circumscribed radius, SBPL will skip the +detailed footprint check and plan into obstacles. If cost_scaling_factor is too +large for the robot footprint (i.e., the inflation around the obstacles is too +small), SBPL will always perform a detailed footprint check, even for poses +that are far away from obstacles. This will incur a performance penalty, but no +infeasible paths. + +The best way to fine-tune these parameters is by using `rqt_reconfigure` and +observing the resulting costmap with inflated obstacles in RViz. First you +should set inflation_radius to something bigger than the circumscribed radius. +This parameter is a cutoff, so if the costmap value has not yet reached 0 at +this distance, it is clamped to 0. This parameter isn't that important as long +as it is greater than the robot's circumscribed radius. The parameter +cost_scaling_factor is an exponential dropoff, so lowering it increases the +inflation radius. Lower it until the inflation radius is at least the robot's +circumscribed radius. Once you have found good parameters, put them into your +move_base launch file. Also see: https://wiki.ros.org/costmap_2d#Inflation . + +For more details, see [issue #33](https://github.com/ros-planning/navigation_experimental/issues/33). diff --git a/cfg/sbpl_global_params.yaml b/cfg/sbpl_global_params.yaml new file mode 100644 index 0000000..89d4a7d --- /dev/null +++ b/cfg/sbpl_global_params.yaml @@ -0,0 +1,15 @@ +SBPLLatticePlanner: + library_path: libsbpl_lattice_planner + environment_type: XYThetaLattice + planner_type: ARAPlanner + allocated_time: 10.0 + initial_epsilon: 1.0 + force_scratch_limit: 10000 + forward_search: true + # Bỏ ràng buộc heading xuất phát: local planner đã có bước quay tại chỗ đầu path + # (turn_around_priority) nên không cần SBPL vẽ cung quay đầu khi goal ở phía sau. + # Nếu không ra nghiệm, planner tự retry một lần với heading thật của robot. + free_start_heading: true + nominalvel_mpersecs: 0.3 + timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s + primitive_filename: /home/duongtd/T800_ws/src/AMR_T800/Test/mprim_gen/diff_5cm.mprim \ No newline at end of file diff --git a/include/sbpl_lattice_planner/sbpl_lattice_planner.h b/include/sbpl_lattice_planner/sbpl_lattice_planner.h new file mode 100644 index 0000000..5c76124 --- /dev/null +++ b/include/sbpl_lattice_planner/sbpl_lattice_planner.h @@ -0,0 +1,123 @@ +#ifndef SBPL_LATTICE_PLANNER_H +#define SBPL_LATTICE_PLANNER_H + +#include +#include + +using namespace std; + +// ROBOT +#include +#include +#include + +// Costmap used for the map representation +#include + +// sbpl headers +#include + +// global representation +#include + +namespace sbpl_lattice_planner{ + +class SBPLLatticePlanner : public robot_nav_core::BaseGlobalPlanner{ +public: + + /** + * @brief Default constructor for the NavFnROBOT object + */ + SBPLLatticePlanner(); + + + /** + * @brief Constructor for the SBPLLatticePlanner object + * @param name The name of this planner + * @param costmap_robot A pointer to the ROBOT wrapper of the costmap to use + */ + SBPLLatticePlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot); + + + /** + * @brief Initialization function for the SBPLLatticePlanner object + * @param name The name of this planner + * @param costmap_robot A pointer to the ROBOT wrapper of the costmap to use + */ + virtual bool initialize(std::string name, + robot_costmap_2d::Costmap2DROBOT* costmap_robot); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + virtual bool makePlan(const robot_geometry_msgs::PoseStamped& start, + const robot_geometry_msgs::PoseStamped& goal, + std::vector& plan); + + virtual ~SBPLLatticePlanner(){}; + + static robot_nav_core::BaseGlobalPlanner::Ptr create(); + +private: + unsigned char costMapCostToSBPLCost(unsigned char newcost); + + unsigned char computeCircumscribedCost(); + + static void transformFootprintToEdges(const robot_geometry_msgs::Pose& robot_pose, + const std::vector& footprint, + std::vector& out_footprint); + + void getFootprintList(const std::vector& sbpl_path, const std::string& path_frame_id, + robot_visualization_msgs::Marker& ma); + + bool initialized_; + + SBPLPlanner* planner_; + EnvironmentNAVXYTHETALAT* env_; + + std::string planner_type_; /**< sbpl method to use for planning. choices are ARAPlanner and ADPlanner */ + + double allocated_time_; /**< amount of time allowed for search */ + double initial_epsilon_; /**< initial epsilon for beginning the anytime search */ + + std::string environment_type_; /** what type of environment in which to plan. choices are 2D and XYThetaLattice. */ + std::string cost_map_topic_; /** what topic is being used for the costmap topic */ + + bool forward_search_; /** whether to use forward or backward search */ + std::string primitive_filename_; /** where to find the motion primitives for the current robot */ + int force_scratch_limit_; /** the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner */ + + unsigned char lethal_obstacle_; + unsigned char inscribed_inflated_obstacle_; + unsigned char circumscribed_cost_; + unsigned char sbpl_cost_multiplier_; + + bool publish_footprint_path_; + int visualizer_skip_poses_; + + bool allow_unknown_; + + /** Bỏ ràng buộc heading tại điểm xuất phát, đảm bảo path MỞ ĐẦU BẰNG ĐOẠN THẲNG + * theo hướng đi thật của route (không nhất thiết hướng tới goal). Dùng khi local + * planner tự quay tại chỗ về hướng path trước khi bám (turn_around_priority) — khi + * đó heading xuất phát không phải ràng buộc thật, giữ nó chỉ ép SBPL vẽ cung quay + * đầu lúc goal nằm phía sau robot. Cơ chế: plan lần 1 với heading seed hướng tới + * goal; nếu đoạn đầu vẫn cong thì căn heading theo đoạn thẳng đầu tiên của path và + * plan lại một lần. Không ra nghiệm thì retry với heading thật. */ + bool free_start_heading_; + + std::string name_; + robot_costmap_2d::Costmap2DROBOT* costmap_robot_; /**< manages the cost map for us */ + std::vector footprint_; + std::vector footprint_prev_; + unsigned int current_env_width_; + unsigned int current_env_height_; +}; +}; + +#endif + diff --git a/matlab/mprim/diff.mprim b/matlab/mprim/diff.mprim new file mode 100644 index 0000000..3dff370 --- /dev/null +++ b/matlab/mprim/diff.mprim @@ -0,0 +1,2643 @@ +resolution_m: 0.050000 +numberofangles: 16 +totalnumberofprimitives: 176 +primID: 0 +startangle_c: 0 +endpose_c: 2 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0111 0.0000 0.0000 +0.0222 0.0000 0.0000 +0.0333 0.0000 0.0000 +0.0444 0.0000 0.0000 +0.0556 0.0000 0.0000 +0.0667 0.0000 0.0000 +0.0778 0.0000 0.0000 +0.0889 0.0000 0.0000 +0.1000 0.0000 0.0000 +primID: 1 +startangle_c: 0 +endpose_c: 8 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 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+startangle_c: 15 +endpose_c: -7 5 14 +additionalactioncostmult: 5 +intermediateposes: 10 +0.0000 0.0000 5.8905 +-0.0425 0.0215 5.8528 +-0.0842 0.0447 5.8152 +-0.1250 0.0695 5.7776 +-0.1651 0.0958 5.7399 +-0.2041 0.1237 5.7023 +-0.2422 0.1531 5.6647 +-0.2793 0.1840 5.6270 +-0.3152 0.2163 5.5894 +-0.3500 0.2500 5.5517 diff --git a/matlab/mprim/genmprim_unicycle_highcost_5cm.m b/matlab/mprim/genmprim_unicycle_highcost_5cm.m new file mode 100755 index 0000000..2810593 --- /dev/null +++ b/matlab/mprim/genmprim_unicycle_highcost_5cm.m @@ -0,0 +1,280 @@ +% /* +% * Copyright (c) 2008, Maxim Likhachev +% * All rights reserved. +% * +% * Redistribution and use in source and binary forms, with or without +% * modification, are permitted provided that the following conditions are met: +% * +% * * Redistributions of source code must retain the above copyright +% * notice, this list of conditions and the following disclaimer. +% * * Redistributions in binary form must reproduce the above copyright +% * notice, this list of conditions and the following disclaimer in the +% * documentation and/or other materials provided with the distribution. +% * * Neither the name of the Carnegie Mellon University nor the names of its +% * contributors may be used to endorse or promote products derived from +% * this software without specific prior written permission. +% * +% * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +% * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +% * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +% * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +% * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +% * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +% * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +% * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +% * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +% * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +% * POSSIBILITY OF SUCH DAMAGE. +% */ + +function[] = genmprim_unicycle_highcost_5cm(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +UNICYCLE_MPRIM_16DEGS = 1; + + +if UNICYCLE_MPRIM_16DEGS == 1 + resolution = 0.05; + numberofangles = 16; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 7; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 40; + forwardandturncostmult = 2; + sidestepcostmult = 10; + turninplacecostmult = 20; + + %note, what is shown x,y,theta changes (not absolute numbers) + + %0 degreees + basemprimendpts0_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult + %x aligned with the heading of the robot, angles are positive + %counterclockwise + %0 theta change + basemprimendpts0_c(1,:) = [1 0 0 forwardcostmult]; + basemprimendpts0_c(2,:) = [8 0 0 forwardcostmult]; + basemprimendpts0_c(3,:) = [-1 0 0 backwardcostmult]; + %1/16 theta change + basemprimendpts0_c(4,:) = [8 1 1 forwardandturncostmult]; + basemprimendpts0_c(5,:) = [8 -1 -1 forwardandturncostmult]; + %turn in place + basemprimendpts0_c(6,:) = [0 0 1 turninplacecostmult]; + basemprimendpts0_c(7,:) = [0 0 -1 turninplacecostmult]; + + %45 degrees + basemprimendpts45_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %x aligned with the heading of the robot, angles are positive + %counterclockwise + %0 theta change + basemprimendpts45_c(1,:) = [1 1 0 forwardcostmult]; + basemprimendpts45_c(2,:) = [6 6 0 forwardcostmult]; + basemprimendpts45_c(3,:) = [-1 -1 0 backwardcostmult]; + %1/16 theta change + basemprimendpts45_c(4,:) = [5 7 1 forwardandturncostmult]; + basemprimendpts45_c(5,:) = [7 5 -1 forwardandturncostmult]; + %turn in place + basemprimendpts45_c(6,:) = [0 0 1 turninplacecostmult]; + basemprimendpts45_c(7,:) = [0 0 -1 turninplacecostmult]; + + %22.5 degrees + basemprimendpts22p5_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %x aligned with the heading of the robot, angles are positive + %counterclockwise + %0 theta change + basemprimendpts22p5_c(1,:) = [2 1 0 forwardcostmult]; + basemprimendpts22p5_c(2,:) = [6 3 0 forwardcostmult]; + basemprimendpts22p5_c(3,:) = [-2 -1 0 backwardcostmult]; + %1/16 theta change + basemprimendpts22p5_c(4,:) = [5 4 1 forwardandturncostmult]; + basemprimendpts22p5_c(5,:) = [7 2 -1 forwardandturncostmult]; + %turn in place + basemprimendpts22p5_c(6,:) = [0 0 1 turninplacecostmult]; + basemprimendpts22p5_c(7,:) = [0 0 -1 turninplacecostmult]; + +else + fprintf(1, 'ERROR: undefined mprims type\n'); + return; +end; + + +fout = fopen(outfilename, 'w'); + + +%write the header +fprintf(fout, 'resolution_m: %f\n', resolution); +fprintf(fout, 'numberofangles: %d\n', numberofangles); +fprintf(fout, 'totalnumberofprimitives: %d\n', numberofprimsperangle*numberofangles); + +%iterate over angles +for angleind = 1:numberofangles + + figure(1); + hold off; + + text(0, 0, int2str(angleind)); + + %iterate over primitives + for primind = 1:numberofprimsperangle + fprintf(fout, 'primID: %d\n', primind-1); + fprintf(fout, 'startangle_c: %d\n', angleind-1); + + %current angle + currentangle = (angleind-1)*2*pi/numberofangles; + currentangle_36000int = round((angleind-1)*36000/numberofangles); + + %compute which template to use + if (rem(currentangle_36000int, 9000) == 0) + basemprimendpts_c = basemprimendpts0_c(primind,:); + angle = currentangle; + elseif (rem(currentangle_36000int, 4500) == 0) + basemprimendpts_c = basemprimendpts45_c(primind,:); + angle = currentangle - 45*pi/180; + elseif (rem(currentangle_36000int-7875, 9000) == 0) + basemprimendpts_c = basemprimendpts33p75_c(primind,:); + basemprimendpts_c(1) = basemprimendpts33p75_c(primind, 2); %reverse x and y + basemprimendpts_c(2) = basemprimendpts33p75_c(primind, 1); + basemprimendpts_c(3) = -basemprimendpts33p75_c(primind, 3); %reverse the angle as well + angle = currentangle - 78.75*pi/180; + fprintf(1, '78p75\n'); + elseif (rem(currentangle_36000int-6750, 9000) == 0) + basemprimendpts_c = basemprimendpts22p5_c(primind,:); + basemprimendpts_c(1) = basemprimendpts22p5_c(primind, 2); %reverse x and y + basemprimendpts_c(2) = basemprimendpts22p5_c(primind, 1); + basemprimendpts_c(3) = -basemprimendpts22p5_c(primind, 3); %reverse the angle as well + %fprintf(1, '%d %d %d onto %d %d %d\n', basemprimendpts22p5_c(1), basemprimendpts22p5_c(2), basemprimendpts22p5_c(3), ... + % basemprimendpts_c(1), basemprimendpts_c(2), basemprimendpts_c(3)); + angle = currentangle - 67.5*pi/180; + fprintf(1, '67p5\n'); + elseif (rem(currentangle_36000int-5625, 9000) == 0) + basemprimendpts_c = basemprimendpts11p25_c(primind,:); + basemprimendpts_c(1) = basemprimendpts11p25_c(primind, 2); %reverse x and y + basemprimendpts_c(2) = basemprimendpts11p25_c(primind, 1); + basemprimendpts_c(3) = -basemprimendpts11p25_c(primind, 3); %reverse the angle as well + angle = currentangle - 56.25*pi/180; + fprintf(1, '56p25\n'); + elseif (rem(currentangle_36000int-3375, 9000) == 0) + basemprimendpts_c = basemprimendpts33p75_c(primind,:); + angle = currentangle - 33.75*pi/180; + fprintf(1, '33p75\n'); + elseif (rem(currentangle_36000int-2250, 9000) == 0) + basemprimendpts_c = basemprimendpts22p5_c(primind,:); + angle = currentangle - 22.5*pi/180; + fprintf(1, '22p5\n'); + elseif (rem(currentangle_36000int-1125, 9000) == 0) + basemprimendpts_c = basemprimendpts11p25_c(primind,:); + angle = currentangle - 11.25*pi/180; + fprintf(1, '11p25\n'); + else + fprintf(1, 'ERROR: invalid angular resolution. angle = %d\n', currentangle_36000int); + return; + end; + + %now figure out what action will be + baseendpose_c = basemprimendpts_c(1:3); + additionalactioncostmult = basemprimendpts_c(4); + endx_c = round(baseendpose_c(1)*cos(angle) - baseendpose_c(2)*sin(angle)); + endy_c = round(baseendpose_c(1)*sin(angle) + baseendpose_c(2)*cos(angle)); + endtheta_c = rem(angleind - 1 + baseendpose_c(3), numberofangles); + endpose_c = [endx_c endy_c endtheta_c]; + + fprintf(1, 'rotation angle=%f\n', angle*180/pi); + + if baseendpose_c(2) == 0 & baseendpose_c(3) == 0 + %fprintf(1, 'endpose=%d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3)); + end; + + %generate intermediate poses (remember they are w.r.t 0,0 (and not + %centers of the cells) + numofsamples = 10; + intermcells_m = zeros(numofsamples,3); + if UNICYCLE_MPRIM_16DEGS == 1 + startpt = [0 0 currentangle]; + endpt = [endpose_c(1)*resolution endpose_c(2)*resolution ... + rem(angleind - 1 + baseendpose_c(3), numberofangles)*2*pi/numberofangles]; + intermcells_m = zeros(numofsamples,3); + if ((endx_c == 0 & endy_c == 0) | baseendpose_c(3) == 0) %turn in place or move forward + for iind = 1:numofsamples + intermcells_m(iind,:) = [startpt(1) + (endpt(1) - startpt(1))*(iind-1)/(numofsamples-1) ... + startpt(2) + (endpt(2) - startpt(2))*(iind-1)/(numofsamples-1) ... + 0]; + rotation_angle = (baseendpose_c(3) ) * (2*pi/numberofangles); + intermcells_m(iind,3) = rem(startpt(3) + (rotation_angle)*(iind-1)/(numofsamples-1), 2*pi); + + end; + else %unicycle-based move forward or backward + R = [cos(startpt(3)) sin(endpt(3)) - sin(startpt(3)); + sin(startpt(3)) -(cos(endpt(3)) - cos(startpt(3)))]; + S = pinv(R)*[endpt(1) - startpt(1); endpt(2) - startpt(2)]; + l = S(1); + tvoverrv = S(2); + rv = (baseendpose_c(3)*2*pi/numberofangles + l/tvoverrv); + tv = tvoverrv*rv; + + if l < 0 + fprintf(1, 'WARNING: l = %d < 0 -> bad action start/end points\n', l); + l = 0; + end; + %compute rv + %rv = baseendpose_c(3)*2*pi/numberofangles; + %compute tv + %tvx = (endpt(1) - startpt(1))*rv/(sin(endpt(3)) - sin(startpt(3))) + %tvy = -(endpt(2) - startpt(2))*rv/(cos(endpt(3)) - cos(startpt(3))) + %tv = (tvx + tvy)/2.0; + %generate samples + for iind = 1:numofsamples + dt = (iind-1)/(numofsamples-1); + + %dtheta = rv*dt + startpt(3); + %intermcells_m(iind,:) = [startpt(1) + tv/rv*(sin(dtheta) - sin(startpt(3))) ... + % startpt(2) - tv/rv*(cos(dtheta) - cos(startpt(3))) ... + % dtheta]; + + if(dt*tv < l) + intermcells_m(iind,:) = [startpt(1) + dt*tv*cos(startpt(3)) ... + startpt(2) + dt*tv*sin(startpt(3)) ... + startpt(3)]; + else + dtheta = rv*(dt - l/tv) + startpt(3); + intermcells_m(iind,:) = [startpt(1) + l*cos(startpt(3)) + tvoverrv*(sin(dtheta) - sin(startpt(3))) ... + startpt(2) + l*sin(startpt(3)) - tvoverrv*(cos(dtheta) - cos(startpt(3))) ... + dtheta]; + end; + end; + %correct + errorxy = [endpt(1) - intermcells_m(numofsamples,1) ... + endpt(2) - intermcells_m(numofsamples,2)]; + fprintf(1, 'l=%f errx=%f erry=%f\n', l, errorxy(1), errorxy(2)); + interpfactor = [0:1/(numofsamples-1):1]; + intermcells_m(:,1) = intermcells_m(:,1) + errorxy(1)*interpfactor'; + intermcells_m(:,2) = intermcells_m(:,2) + errorxy(2)*interpfactor'; + end; + end; + + %write out + fprintf(fout, 'endpose_c: %d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3)); + fprintf(fout, 'additionalactioncostmult: %d\n', additionalactioncostmult); + fprintf(fout, 'intermediateposes: %d\n', size(intermcells_m,1)); + for interind = 1:size(intermcells_m, 1) + fprintf(fout, '%.4f %.4f %.4f\n', intermcells_m(interind,1), intermcells_m(interind,2), intermcells_m(interind,3)); + end; + + plot(intermcells_m(:,1), intermcells_m(:,2)); + axis([-0.3 0.3 -0.3 0.3]); + text(intermcells_m(numofsamples,1), intermcells_m(numofsamples,2), int2str(endpose_c(3))); + hold on; + + end; + grid; + pause; +end; + +fclose('all'); diff --git a/matlab/mprim/genmprim_unicycle_highcost_5cm.py b/matlab/mprim/genmprim_unicycle_highcost_5cm.py new file mode 100755 index 0000000..c8801c0 --- /dev/null +++ b/matlab/mprim/genmprim_unicycle_highcost_5cm.py @@ -0,0 +1,416 @@ +#!/usr/bin/env python3 +# +# Copyright (c) 2016, David Conner (Christopher Newport University) +# Based on genmprim_unicycle.m +# Copyright (c) 2008, Maxim Likhachev +# All rights reserved. +# converted by libermate utility (https://github.com/awesomebytes/libermate) +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of the Carnegie Mellon University nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +import numpy as np +import rospkg + +# if available import pylab (from matlibplot) +matplotlib_found = False +try: + import matplotlib.pylab as plt + + matplotlib_found = True +except ImportError: + pass + + +def matrix_size(mat, elem=None): + if not elem: + return mat.shape + else: + return mat.shape[int(elem) - 1] + + +def genmprim_unicycle(outfilename, visualize=False, separate_plots=False): + visualize = matplotlib_found and visualize # Plot the primitives + + # Local Variables: basemprimendpts22p5_c, endtheta_c, endx_c, + # baseendpose_c, additionalactioncostmult, fout, numofsamples, + # basemprimendpts45_c, primind, basemprimendpts0_c, rv, angle, outfilename, + # numberofangles, startpt, UNICYCLE_MPRIM_16DEGS, sidestepcostmult, + # rotation_angle, basemprimendpts_c, forwardandturncostmult, + # forwardcostmult, turninplacecostmult, endpose_c, backwardcostmult, + # interpfactor, S, R, tvoverrv, dtheta, intermcells_m, tv, dt, + # currentangle, numberofprimsperangle, resolution, currentangle_36000int, + # l, iind, errorxy, interind, endy_c, angleind, endpt + # Function calls: plot, cos, pi, grid, figure, genmprim_unicycle, text, + # int2str, pause, axis, sin, pinv, fprintf, fclose, rem, zeros, fopen, + # round, size + # % + # %generates motion primitives and saves them into file + # % + # %written by Maxim Likhachev + # %--------------------------------------------------- + # % + # %defines + UNICYCLE_MPRIM_16DEGS = 1.0 + if UNICYCLE_MPRIM_16DEGS == 1.0: + resolution = 0.05 + numberofangles = 16 + # %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 7 + # %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1.0 + backwardcostmult = 40.0 + forwardandturncostmult = 2.0 + # sidestepcostmult = 10.0 + turninplacecostmult = 20.0 + # %note, what is shown x,y,theta changes (not absolute numbers) + # %0 degreees + basemprimendpts0_c = np.zeros((numberofprimsperangle, 4)) + # %x,y,theta,costmult + # %x aligned with the heading of the robot, angles are positive + # %counterclockwise + # %0 theta change + basemprimendpts0_c[0, :] = np.array(np.hstack((1.0, 0.0, 0.0, forwardcostmult))) + basemprimendpts0_c[1, :] = np.array(np.hstack((8.0, 0.0, 0.0, forwardcostmult))) + basemprimendpts0_c[2, :] = np.array(np.hstack((-1.0, 0.0, 0.0, backwardcostmult))) + # %1/16 theta change + basemprimendpts0_c[3, :] = np.array(np.hstack((8.0, 1.0, 1.0, forwardandturncostmult))) + basemprimendpts0_c[4, :] = np.array(np.hstack((8.0, -1.0, -1.0, forwardandturncostmult))) + # %turn in place + basemprimendpts0_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult))) + basemprimendpts0_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult))) + # %45 degrees + basemprimendpts45_c = np.zeros((numberofprimsperangle, 4)) + # %x,y,theta,costmult (multiplier is used as costmult*cost) + # %x aligned with the heading of the robot, angles are positive + # %counterclockwise + # %0 theta change + basemprimendpts45_c[0, :] = np.array(np.hstack((1.0, 1.0, 0.0, forwardcostmult))) + basemprimendpts45_c[1, :] = np.array(np.hstack((6.0, 6.0, 0.0, forwardcostmult))) + basemprimendpts45_c[2, :] = np.array(np.hstack((-1.0, -1.0, 0.0, backwardcostmult))) + # %1/16 theta change + basemprimendpts45_c[3, :] = np.array(np.hstack((5.0, 7.0, 1.0, forwardandturncostmult))) + basemprimendpts45_c[4, :] = np.array(np.hstack((7.0, 5.0, -1.0, forwardandturncostmult))) + # %turn in place + basemprimendpts45_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult))) + basemprimendpts45_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult))) + # %22.5 degrees + basemprimendpts22p5_c = np.zeros((numberofprimsperangle, 4)) + # %x,y,theta,costmult (multiplier is used as costmult*cost) + # %x aligned with the heading of the robot, angles are positive + # %counterclockwise + # %0 theta change + basemprimendpts22p5_c[0, :] = np.array(np.hstack((2.0, 1.0, 0.0, forwardcostmult))) + basemprimendpts22p5_c[1, :] = np.array(np.hstack((6.0, 3.0, 0.0, forwardcostmult))) + basemprimendpts22p5_c[2, :] = np.array(np.hstack((-2.0, -1.0, 0.0, backwardcostmult))) + # %1/16 theta change + basemprimendpts22p5_c[3, :] = np.array(np.hstack((5.0, 4.0, 1.0, forwardandturncostmult))) + basemprimendpts22p5_c[4, :] = np.array(np.hstack((7.0, 2.0, -1.0, forwardandturncostmult))) + # %turn in place + basemprimendpts22p5_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult))) + basemprimendpts22p5_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult))) + else: + print('ERROR: undefined mprims type\n') + return [] + + fout = open(outfilename, 'w') + # %write the header + fout.write('resolution_m: %f\n' % (resolution)) + fout.write('numberofangles: %d\n' % (numberofangles)) + fout.write('totalnumberofprimitives: %d\n' % (numberofprimsperangle * numberofangles)) + # %iterate over angles + for angleind in np.arange(1.0, (numberofangles) + 1): + currentangle = ((angleind - 1) * 2.0 * np.pi) / numberofangles + currentangle_36000int = np.round((angleind - 1) * 36000.0 / numberofangles) + if visualize: + if separate_plots: + fig = plt.figure(angleind) + plt.title('angle {:2.0f} (= {:3.1f} degrees)'.format(angleind - 1, currentangle_36000int / 100.0)) + else: + fig = plt.figure(1) + + plt.axis('equal') + plt.axis([-10 * resolution, 10 * resolution, -10 * resolution, 10 * resolution]) + ax = fig.add_subplot(1, 1, 1) + major_ticks = np.arange(-8 * resolution, 9 * resolution, 4 * resolution) + minor_ticks = np.arange(-8 * resolution, 9 * resolution, resolution) + ax.set_xticks(major_ticks) + ax.set_xticks(minor_ticks, minor=True) + ax.set_yticks(major_ticks) + ax.set_yticks(minor_ticks, minor=True) + ax.grid(which='minor', alpha=0.5) + ax.grid(which='major', alpha=0.9) + + # %iterate over primitives + for primind in np.arange(1.0, (numberofprimsperangle) + 1): + fout.write('primID: %d\n' % (primind - 1)) + fout.write('startangle_c: %d\n' % (angleind - 1)) + # %current angle + # %compute which template to use + if (currentangle_36000int % 9000) == 0: + basemprimendpts_c = basemprimendpts0_c[int(primind) - 1, :] + angle = currentangle + elif (currentangle_36000int % 4500) == 0: + basemprimendpts_c = basemprimendpts45_c[int(primind) - 1, :] + angle = currentangle - 45.0 * np.pi / 180.0 + + # commented out because basemprimendpts33p75_c is undefined + # elif ((currentangle_36000int - 7875) % 9000) == 0: + # basemprimendpts_c = ( + # 1 * basemprimendpts33p75_c[primind, :] + # ) # 1* to force deep copy to avoid reference update below + # basemprimendpts_c[0] = basemprimendpts33p75_c[primind, 1] + # # %reverse x and y + # basemprimendpts_c[1] = basemprimendpts33p75_c[primind, 0] + # basemprimendpts_c[2] = -basemprimendpts33p75_c[primind, 2] + # # %reverse the angle as well + # angle = currentangle - (78.75 * np.pi) / 180.0 + # print('78p75\n') + + elif ((currentangle_36000int - 6750) % 9000) == 0: + basemprimendpts_c = ( + 1 * basemprimendpts22p5_c[int(primind) - 1, :] + ) # 1* to force deep copy to avoid reference update below + basemprimendpts_c[0] = basemprimendpts22p5_c[int(primind) - 1, 1] + # %reverse x and y + basemprimendpts_c[1] = basemprimendpts22p5_c[int(primind) - 1, 0] + basemprimendpts_c[2] = -basemprimendpts22p5_c[int(primind) - 1, 2] + # %reverse the angle as well + # print( + # '%d : %d %d %d onto %d %d %d\n' + # % ( + # primind - 1, + # basemprimendpts22p5_c[int(primind) - 1, 0], + # basemprimendpts22p5_c[int(primind) - 1, 1], + # basemprimendpts22p5_c[int(primind) - 1, 2], + # basemprimendpts_c[0], + # basemprimendpts_c[1], + # basemprimendpts_c[2], + # ) + # ) + angle = currentangle - (67.5 * np.pi) / 180.0 + print('67p5\n') + + # commented out because basemprimendpts11p25_c is undefined + # elif ((currentangle_36000int - 5625) % 9000) == 0: + # basemprimendpts_c = ( + # 1 * basemprimendpts11p25_c[primind, :] + # ) # 1* to force deep copy to avoid reference update below + # basemprimendpts_c[0] = basemprimendpts11p25_c[primind, 1] + # # %reverse x and y + # basemprimendpts_c[1] = basemprimendpts11p25_c[primind, 0] + # basemprimendpts_c[2] = -basemprimendpts11p25_c[primind, 2] + # # %reverse the angle as well + # angle = currentangle - (56.25 * np.pi) / 180.0 + # print('56p25\n') + + # commented out because basemprimendpts33p75_c is undefined + # elif ((currentangle_36000int - 3375) % 9000) == 0: + # basemprimendpts_c = basemprimendpts33p75_c[int(primind), :] + # angle = currentangle - (33.75 * np.pi) / 180.0 + # print('33p75\n') + + elif ((currentangle_36000int - 2250) % 9000) == 0: + basemprimendpts_c = basemprimendpts22p5_c[int(primind) - 1, :] + angle = currentangle - (22.5 * np.pi) / 180.0 + print('22p5\n') + + # commented out because basemprimendpts11p25_c is undefined + # elif ((currentangle_36000int - 1125) % 9000) == 0: + # basemprimendpts_c = basemprimendpts11p25_c[int(primind), :] + # angle = currentangle - (11.25 * np.pi) / 180.0 + # print('11p25\n') + + else: + print('ERROR: invalid angular resolution. angle = %d\n' % currentangle_36000int) + return [] + + # %now figure out what action will be + baseendpose_c = basemprimendpts_c[0:3] + additionalactioncostmult = basemprimendpts_c[3] + endx_c = np.round((baseendpose_c[0] * np.cos(angle)) - (baseendpose_c[1] * np.sin(angle))) + endy_c = np.round((baseendpose_c[0] * np.sin(angle)) + (baseendpose_c[1] * np.cos(angle))) + endtheta_c = np.fmod(angleind - 1 + baseendpose_c[2], numberofangles) + endpose_c = np.array(np.hstack((endx_c, endy_c, endtheta_c))) + print("endpose_c=", endpose_c) + print(('rotation angle=%f\n' % (angle * 180.0 / np.pi))) + # if np.logical_and(baseendpose_c[1] == 0., baseendpose_c[2] == 0.): + # %fprintf(1, 'endpose=%d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3)); + + # %generate intermediate poses (remember they are w.r.t 0,0 (and not + # %centers of the cells) + numofsamples = 10 + intermcells_m = np.zeros((numofsamples, 3)) + if UNICYCLE_MPRIM_16DEGS == 1.0: + startpt = np.array(np.hstack((0.0, 0.0, currentangle))) + endpt = np.array( + np.hstack( + ( + (endpose_c[0] * resolution), + (endpose_c[1] * resolution), + ( + ((np.fmod(angleind - 1 + baseendpose_c[2], numberofangles)) * 2.0 * np.pi) + / numberofangles + ), + ) + ) + ) + + print("startpt =", startpt) + print("endpt =", endpt) + intermcells_m = np.zeros((numofsamples, 3)) + if np.logical_or(np.logical_and(endx_c == 0.0, endy_c == 0.0), baseendpose_c[2] == 0.0): + # %turn in place or move forward + for iind in np.arange(1.0, (numofsamples) + 1): + fraction = float(iind - 1) / (numofsamples - 1) + intermcells_m[int(iind) - 1, :] = np.array( + ( + startpt[0] + (endpt[0] - startpt[0]) * fraction, + startpt[1] + (endpt[1] - startpt[1]) * fraction, + 0, + ) + ) + rotation_angle = baseendpose_c[2] * (2.0 * np.pi / numberofangles) + intermcells_m[int(iind) - 1, 2] = np.fmod(startpt[2] + rotation_angle * fraction, (2.0 * np.pi)) + # print " ",iind," of ",numofsamples," fraction=",fraction," rotation=",rotation_angle + + else: + # %unicycle-based move forward or backward (http://sbpl.net/node/53) + R = np.array( + np.vstack( + ( + np.hstack((np.cos(startpt[2]), np.sin(endpt[2]) - np.sin(startpt[2]))), + np.hstack((np.sin(startpt[2]), -np.cos(endpt[2]) + np.cos(startpt[2]))), + ) + ) + ) + + S = np.dot(np.linalg.pinv(R), np.array(np.vstack((endpt[0] - startpt[0], endpt[1] - startpt[1])))) + l = S[0] + tvoverrv = S[1] + rv = (baseendpose_c[2] * 2.0 * np.pi / numberofangles) + l / tvoverrv + tv = tvoverrv * rv + + # print "R=\n",R + # print "Rpi=\n",np.linalg.pinv(R) + # print "S=\n",S + # print "l=",l + # print "tvoverrv=",tvoverrv + # print "rv=",rv + # print "tv=",tv + + if l < 0.0: + print(('WARNING: l = %f < 0 -> bad action start/end points\n' % (l))) + l = 0.0 + + # %compute rv + # %rv = baseendpose_c(3)*2*pi/numberofangles; + # %compute tv + # %tvx = (endpt(1) - startpt(1))*rv/(sin(endpt(3)) - sin(startpt(3))) + # %tvy = -(endpt(2) - startpt(2))*rv/(cos(endpt(3)) - cos(startpt(3))) + # %tv = (tvx + tvy)/2.0; + # %generate samples + for iind in np.arange(1, numofsamples + 1): + dt = (iind - 1) / (numofsamples - 1) + # %dtheta = rv*dt + startpt(3); + # %intermcells_m(iind,:) = [startpt(1) + tv/rv*(sin(dtheta) - sin(startpt(3))) ... + # % startpt(2) - tv/rv*(cos(dtheta) - cos(startpt(3))) ... + # % dtheta]; + if (dt * tv) < l: + intermcells_m[int(iind) - 1, :] = np.array( + np.hstack( + ( + startpt[0] + dt * tv * np.cos(startpt[2]), + startpt[1] + dt * tv * np.sin(startpt[2]), + startpt[2], + ) + ) + ) + else: + dtheta = rv * (dt - l / tv) + startpt[2] + intermcells_m[int(iind) - 1, :] = np.array( + np.hstack( + ( + startpt[0] + + l * np.cos(startpt[2]) + + tvoverrv * (np.sin(dtheta) - np.sin(startpt[2])), + startpt[1] + + l * np.sin(startpt[2]) + - tvoverrv * (np.cos(dtheta) - np.cos(startpt[2])), + dtheta, + ) + ) + ) + + # %correct + errorxy = np.array( + np.hstack( + ( + endpt[0] - intermcells_m[int(numofsamples) - 1, 0], + endpt[1] - intermcells_m[int(numofsamples) - 1, 1], + ) + ) + ) + # print('l=%f errx=%f erry=%f\n'%(l, errorxy[0], errorxy[1])) + interpfactor = np.array( + np.hstack((np.arange(0.0, 1.0 + (1.0 / (numofsamples)), 1.0 / (numofsamples - 1)))) + ) + + # print "intermcells_m=",intermcells_m + # print "interp'=",interpfactor.conj().T + + intermcells_m[:, 0] = intermcells_m[:, 0] + errorxy[0] * interpfactor.conj().T + intermcells_m[:, 1] = intermcells_m[:, 1] + errorxy[1] * interpfactor.conj().T + + # %write out + fout.write('endpose_c: %d %d %d\n' % (endpose_c[0], endpose_c[1], endpose_c[2])) + fout.write('additionalactioncostmult: %d\n' % (additionalactioncostmult)) + fout.write('intermediateposes: %d\n' % (matrix_size(intermcells_m, 1.0))) + for interind in np.arange(1.0, (matrix_size(intermcells_m, 1.0)) + 1): + fout.write( + '%.4f %.4f %.4f\n' + % ( + intermcells_m[int(interind) - 1, 0], + intermcells_m[int(interind) - 1, 1], + intermcells_m[int(interind) - 1, 2], + ) + ) + + if visualize: + plt.plot(intermcells_m[:, 0], intermcells_m[:, 1], linestyle="-", marker="o") + plt.text(endpt[0], endpt[1], '{:2.0f}'.format(endpose_c[2])) + # if (visualize): + # plt.waitforbuttonpress() # uncomment to plot each primitive set one at a time + + fout.close() + if visualize: + # plt.waitforbuttonpress() # hold until buttom pressed + plt.show() # Keep windows open until the program is terminated + return [] + + +if __name__ == "__main__": + rospack = rospkg.RosPack() + outfilename = rospack.get_path('mir_navigation') + '/mprim/unicycle_highcost_5cm.mprim' + genmprim_unicycle(outfilename, visualize=True) diff --git a/matlab/mprim/pr2.mprim b/matlab/mprim/pr2.mprim new file mode 100755 index 0000000..b34485f --- /dev/null +++ b/matlab/mprim/pr2.mprim @@ -0,0 +1,1683 @@ +resolution_m: 0.025000 +numberofangles: 16 +totalnumberofprimitives: 112 +primID: 0 +startangle_c: 0 +endpose_c: 1 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0028 0.0000 0.0000 +0.0056 0.0000 0.0000 +0.0083 0.0000 0.0000 +0.0111 0.0000 0.0000 +0.0139 0.0000 0.0000 +0.0167 0.0000 0.0000 +0.0194 0.0000 0.0000 +0.0222 0.0000 0.0000 +0.0250 0.0000 0.0000 +primID: 1 +startangle_c: 0 +endpose_c: 8 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0222 0.0000 0.0000 +0.0444 0.0000 0.0000 +0.0667 0.0000 0.0000 +0.0889 0.0000 0.0000 +0.1111 0.0000 0.0000 +0.1333 0.0000 0.0000 +0.1556 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+additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0298 -0.0184 5.8602 +0.0592 -0.0379 5.8299 +0.0881 -0.0583 5.7996 +0.1165 -0.0796 5.7693 +0.1444 -0.1019 5.7390 +0.1717 -0.1251 5.7087 +0.1984 -0.1492 5.6784 +0.2245 -0.1742 5.6481 +0.2500 -0.2000 5.6178 +primID: 4 +startangle_c: 15 +endpose_c: 7 -2 0 +additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0377 -0.0156 5.8905 +0.0754 -0.0312 5.8905 +0.1131 -0.0468 5.8905 +0.1508 -0.0623 5.9096 +0.1893 -0.0758 5.9843 +0.2287 -0.0863 6.0590 +0.2687 -0.0939 6.1337 +0.3092 -0.0985 6.2085 +0.3500 -0.1000 6.2832 +primID: 5 +startangle_c: 15 +endpose_c: 0 0 14 +additionalactioncostmult: 20 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0000 0.0000 5.8469 +0.0000 0.0000 5.8032 +0.0000 0.0000 5.7596 +0.0000 0.0000 5.7160 +0.0000 0.0000 5.6723 +0.0000 0.0000 5.6287 +0.0000 0.0000 5.5851 +0.0000 0.0000 5.5414 +0.0000 0.0000 5.4978 +primID: 6 +startangle_c: 15 +endpose_c: 0 0 0 +additionalactioncostmult: 20 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0000 0.0000 5.9341 +0.0000 0.0000 5.9778 +0.0000 0.0000 6.0214 +0.0000 0.0000 6.0650 +0.0000 0.0000 6.1087 +0.0000 0.0000 6.1523 +0.0000 0.0000 6.1959 +0.0000 0.0000 6.2396 +0.0000 0.0000 0.0000 diff --git a/msg/SBPLLatticePlannerStats.msg b/msg/SBPLLatticePlannerStats.msg new file mode 100644 index 0000000..3eb99a9 --- /dev/null +++ b/msg/SBPLLatticePlannerStats.msg @@ -0,0 +1,15 @@ +#planner stats +float64 initial_epsilon +float64 final_epsilon +bool plan_to_first_solution +float64 allocated_time +float64 actual_time +float64 time_to_first_solution +float64 solution_cost +float64 path_size +int64 final_number_of_expands +int64 number_of_expands_initial_solution + +#problem stats +geometry_msgs/PoseStamped start +geometry_msgs/PoseStamped goal diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..4f75ed2 --- /dev/null +++ b/package.xml @@ -0,0 +1,93 @@ + + + + sbpl_lattice_planner + 0.7.10 + + sbpl_lattice_planner is the second generation of the transform library, which lets + the user keep track of multiple coordinate frames over time. sbpl_lattice_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. + + Tully Foote + Eitan Marder-Eppstein + Wim Meeussen + Tully Foote + BSD + + http://www.ros.org/wiki/sbpl_lattice_planner + + catkin + + robot_costmap_2d + robot_costmap_2d + + robot_nav_core + robot_nav_core + + robot_geometry_msgs + robot_geometry_msgs + + robot_nav_msgs + robot_nav_msgs + + robot_std_msgs + robot_std_msgs + + robot_tf3_geometry_msgs + robot_tf3_geometry_msgs + + robot_cpp + robot_cpp + + robot_protocol_msgs + robot_protocol_msgs + + robot_time + robot_time + + robot_visualization_msgs + robot_visualization_msgs + + data_convert + data_convert + + sbpl + sbpl + + \ No newline at end of file diff --git a/rviz/sbpl.rviz b/rviz/sbpl.rviz new file mode 100644 index 0000000..1949da5 --- /dev/null +++ b/rviz/sbpl.rviz @@ -0,0 +1,192 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Map2 + Splitter Ratio: 0.5 + Tree Height: 565 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.1 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.3 + Head Radius: 0.1 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05 + Shape: Arrow + Topic: /move_base_simple/goal + Value: true + - Arrow Length: 0.3 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Name: PoseArray + Topic: /particlecloud + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 1 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /base_scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Name: Path + Topic: /move_base_node/SBPLLatticePlanner/plan + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base_node/local_costmap/costmap + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base_node/SBPLLatticePlanner/footprint_markers + Name: Footprint Markers + Namespaces: + sbpl_robot_footprint: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 54.0128 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 27.4168 + Y: 22.0811 + Z: 0.0219529 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 1.5698 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.70358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 390 + Y: 65 diff --git a/src/sbpl_lattice_planner.cpp b/src/sbpl_lattice_planner.cpp new file mode 100644 index 0000000..9dc11d8 --- /dev/null +++ b/src/sbpl_lattice_planner.cpp @@ -0,0 +1,648 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +* Author: Mike Phillips +*********************************************************************/ + +#include + +#include + +#include + +#include +#include +#include + +using namespace std; + +namespace robot_geometry_msgs { + bool operator== (const Point &p1, const Point &p2) + { + return p1.x == p2.x && p1.y == p2.y && p1.z == p2.z; + } +} + +namespace sbpl_lattice_planner{ +class LatticeSCQ : public StateChangeQuery{ + public: + LatticeSCQ(EnvironmentNAVXYTHETALAT* env, std::vector const & changedcellsV) + : env_(env), changedcellsV_(changedcellsV) { + } + + // lazy init, because we do not always end up calling this method + virtual std::vector const * getPredecessors() const{ + if(predsOfChangedCells_.empty() && !changedcellsV_.empty()) + env_->GetPredsofChangedEdges(&changedcellsV_, &predsOfChangedCells_); + return &predsOfChangedCells_; + } + + // lazy init, because we do not always end up calling this method + virtual std::vector const * getSuccessors() const{ + if(succsOfChangedCells_.empty() && !changedcellsV_.empty()) + env_->GetSuccsofChangedEdges(&changedcellsV_, &succsOfChangedCells_); + return &succsOfChangedCells_; + } + + EnvironmentNAVXYTHETALAT * env_; + std::vector const & changedcellsV_; + mutable std::vector predsOfChangedCells_; + mutable std::vector succsOfChangedCells_; +}; + +SBPLLatticePlanner::SBPLLatticePlanner() + : initialized_(false), costmap_robot_(NULL){ +} + +SBPLLatticePlanner::SBPLLatticePlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot) + : initialized_(false), costmap_robot_(NULL) + { + initialize(name, costmap_robot); + } + +bool SBPLLatticePlanner::initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot){ + if(!initialized_){ + robot::NodeHandle nh; + robot::NodeHandle private_nh = robot::NodeHandle(nh, name); + + robot::log_info("Name is %s", name.c_str()); + + private_nh.param("planner_type", planner_type_, string("ARAPlanner")); + private_nh.param("allocated_time", allocated_time_, 10.0); + private_nh.param("initial_epsilon",initial_epsilon_,3.0); + private_nh.param("environment_type", environment_type_, string("XYThetaLattice")); + private_nh.param("forward_search", forward_search_, bool(false)); + private_nh.param("primitive_filename",primitive_filename_,string("")); + private_nh.param("force_scratch_limit",force_scratch_limit_,500); + + double nominalvel_mpersecs, timetoturn45degsinplace_secs; + private_nh.param("nominalvel_mpersecs", nominalvel_mpersecs, 0.4); + private_nh.param("timetoturn45degsinplace_secs", timetoturn45degsinplace_secs, 0.6); + robot::log_error("nominalvel_mpersecs: %f, timetoturn45degsinplace_secs: %f, primitive_filename_: %s",nominalvel_mpersecs,timetoturn45degsinplace_secs,primitive_filename_.c_str()); + + int lethal_obstacle; + private_nh.param("lethal_obstacle",lethal_obstacle,20); + lethal_obstacle_ = (unsigned char) lethal_obstacle; + inscribed_inflated_obstacle_ = lethal_obstacle_-1; + sbpl_cost_multiplier_ = (unsigned char) (robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE/inscribed_inflated_obstacle_ + 1); + robot::log_debug("SBPL: lethal: %uz, inscribed inflated: %uz, multiplier: %uz",lethal_obstacle,inscribed_inflated_obstacle_,sbpl_cost_multiplier_); + + private_nh.param("publish_footprint_path", publish_footprint_path_, bool(true)); + private_nh.param("visualizer_skip_poses", visualizer_skip_poses_, 5); + + private_nh.param("allow_unknown", allow_unknown_, bool(true)); + // chỉ bật khi local planner có bước quay tại chỗ đầu path (turn_around_priority) + private_nh.param("free_start_heading", free_start_heading_, bool(false)); + + name_ = name; + costmap_robot_ = costmap_robot; + + robot::Time start_time = robot::Time::now(); + robot::Rate rate(1.0); + while(costmap_robot_->getCostmap()->getSizeInCellsX() == 0 || costmap_robot_->getCostmap()->getSizeInCellsY() == 0){ + robot::log_warning("Waiting for costmap to be initialized..."); + rate.sleep(); + if((robot::Time::now() - start_time).toSec() > 2.0){ + robot::log_error("Costmap not initialized after 10 seconds, exiting..."); + exit(1); + } + } + + footprint_ = costmap_robot_->getRobotFootprint(); + footprint_prev_ = footprint_; + + if ("XYThetaLattice" == environment_type_){ + robot::log_debug("Using a 3D costmap for theta lattice\n"); + env_ = new EnvironmentNAVXYTHETALAT(); + } + else{ + robot::log_error("XYThetaLattice is currently the only supported environment!\n"); + exit(1); + } + + circumscribed_cost_ = computeCircumscribedCost(); + + if (circumscribed_cost_ == 0) { + // Unfortunately, the inflation_radius is not taken into account by + // inflation_layer->computeCost(). If inflation_radius is smaller than + // the circumscribed radius, SBPL will ignore some obstacles, but we + // cannot detect this problem. If the cost_scaling_factor is too large, + // SBPL won't run into obstacles, but will always perform an expensive + // footprint check, no matter how far the nearest obstacle is. + robot::log_warning("The costmap value at the robot's circumscribed radius (%f m) is 0.", costmap_robot_->getLayeredCostmap()->getCircumscribedRadius()); + robot::log_warning("SBPL performance will suffer."); + robot::log_warning("Please decrease the costmap's cost_scaling_factor."); + } + if(!env_->SetEnvParameter("cost_inscribed_thresh",costMapCostToSBPLCost(robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE))){ + robot::log_error("Failed to set cost_inscribed_thresh parameter"); + exit(1); + } + if(!env_->SetEnvParameter("cost_possibly_circumscribed_thresh", circumscribed_cost_)){ + robot::log_error("Failed to set cost_possibly_circumscribed_thresh parameter"); + exit(1); + } + int obst_cost_thresh = costMapCostToSBPLCost(robot_costmap_2d::LETHAL_OBSTACLE); + vector perimeterptsV; + perimeterptsV.reserve(footprint_.size()); + for (size_t ii(0); ii < footprint_.size(); ++ii) { + sbpl_2Dpt_t pt; + pt.x = footprint_[ii].x; + pt.y = footprint_[ii].y; + perimeterptsV.push_back(pt); + } + + robot::log_info("footprint size = %zu", perimeterptsV.size()); + robot::log_info("width=%d", + costmap_robot_->getCostmap()->getSizeInCellsX()); + + robot::log_info("height=%d", + costmap_robot_->getCostmap()->getSizeInCellsY()); + + robot::log_info("resolution=%f", + costmap_robot_->getCostmap()->getResolution()); + + bool ret; + try{ + robot::log_warning("DEBUG 2000"); + ret = env_->InitializeEnv(costmap_robot_->getCostmap()->getSizeInCellsX(), // width + costmap_robot_->getCostmap()->getSizeInCellsY(), // height + 0, // mapdata + 0, 0, 0, // start (x, y, theta, t) + 0, 0, 0, // goal (x, y, theta) + 0, 0, 0, //goal tolerance + perimeterptsV, costmap_robot_->getCostmap()->getResolution(), nominalvel_mpersecs, + timetoturn45degsinplace_secs, obst_cost_thresh, + primitive_filename_.c_str()); + ret = true; + current_env_width_ = costmap_robot_->getCostmap()->getSizeInCellsX(); + current_env_height_ = costmap_robot_->getCostmap()->getSizeInCellsY(); + robot::log_warning("DEBUG 3000"); + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL encountered a fatal exception: %s", e->what()); + ret = false; + } + if(!ret){ + robot::log_error("SBPL initialization failed!"); + exit(1); + } + for (ssize_t ix(0); ix < costmap_robot_->getCostmap()->getSizeInCellsX(); ++ix) + for (ssize_t iy(0); iy < costmap_robot_->getCostmap()->getSizeInCellsY(); ++iy) + env_->UpdateCost(ix, iy, costMapCostToSBPLCost(costmap_robot_->getCostmap()->getCost(ix,iy))); + + if ("ARAPlanner" == planner_type_){ + robot::log_info("Planning with ARA*"); + planner_ = new ARAPlanner(env_, forward_search_); + } + else if ("ADPlanner" == planner_type_){ + robot::log_info("Planning with AD*"); + planner_ = new ADPlanner(env_, forward_search_); + } + else{ + robot::log_error("ARAPlanner and ADPlanner are currently the only supported planners!\n"); + exit(1); + } + + robot::log_info("[sbpl_lattice_planner] Initialized successfully"); +// plan_pub_ = private_nh.advertise("plan", 1); +// stats_publisher_ = private_nh.advertise("sbpl_lattice_planner_stats", 1); +// sbpl_plan_footprint_pub_ = private_nh.advertise("footprint_markers", 1); + + initialized_ = true; + } + return initialized_; +} + +//Taken from Sachin's sbpl_cart_planner +//This rescales the costmap according to a robotparam which sets the obstacle cost +unsigned char SBPLLatticePlanner::costMapCostToSBPLCost(unsigned char newcost){ + if(newcost == robot_costmap_2d::LETHAL_OBSTACLE || (!allow_unknown_ && newcost == robot_costmap_2d::NO_INFORMATION)) + return lethal_obstacle_; + else if(newcost == robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE) + return inscribed_inflated_obstacle_; + else if(newcost == 0 || newcost == robot_costmap_2d::NO_INFORMATION) + return 0; + else { + unsigned char sbpl_cost = newcost / sbpl_cost_multiplier_; + if (sbpl_cost == 0) + sbpl_cost = 1; + return sbpl_cost; + } +} + +unsigned char SBPLLatticePlanner::computeCircumscribedCost() { + unsigned char result = 0; + + if (!costmap_robot_) { + robot::log_error("Costmap is not initialized"); + return 0; + } + + // // check if the costmap has an inflation layer + for (const auto &layer : *costmap_robot_->getLayeredCostmap()->getPlugins()) + { + // Kiểm tra layer có đúng type + if (layer->getType() == robot_costmap_2d::LayerType::INFLATION_LAYER) + { + result = costMapCostToSBPLCost(layer->computeCost( + costmap_robot_->getLayeredCostmap()->getCircumscribedRadius() / + costmap_robot_->getCostmap()->getResolution())); + } + } + return result; +} + +bool SBPLLatticePlanner::makePlan(const robot_geometry_msgs::PoseStamped& start, + const robot_geometry_msgs::PoseStamped& goal, + std::vector& plan){ + if(!initialized_){ + robot::log_error("Global planner is not initialized"); + return false; + } + + bool do_init = false; + if (current_env_width_ != costmap_robot_->getCostmap()->getSizeInCellsX() || + current_env_height_ != costmap_robot_->getCostmap()->getSizeInCellsY()) { + robot::log_info("Costmap dimensions have changed from (%d x %d) to (%d x %d), reinitializing sbpl_lattice_planner.", + current_env_width_, current_env_height_, + costmap_robot_->getCostmap()->getSizeInCellsX(), costmap_robot_->getCostmap()->getSizeInCellsY()); + do_init = true; + } + else if (footprint_ != costmap_robot_->getRobotFootprint()) { + robot::log_info("Robot footprint has changed, reinitializing sbpl_lattice_planner."); + do_init = true; + } + else if (circumscribed_cost_ != computeCircumscribedCost()) { + robot::log_info("Cost at circumscribed radius has changed, reinitializing sbpl_lattice_planner."); + do_init = true; + } + + if (do_init) { + initialized_ = false; + delete planner_; + planner_ = NULL; + delete env_; + env_ = NULL; + initialize(name_, costmap_robot_); + } + + plan.clear(); + + robot::log_info("[sbpl_lattice_planner] getting start point (%g,%g) goal point (%g,%g)", + start.pose.position.x, start.pose.position.y,goal.pose.position.x, goal.pose.position.y); + double theta_start = 2 * atan2(start.pose.orientation.z, start.pose.orientation.w); + double theta_goal = 2 * atan2(goal.pose.orientation.z, goal.pose.orientation.w); + + // Heading thật của robot — giữ lại để retry nếu heading giả định không ra nghiệm. + const double theta_start_actual = theta_start; + bool start_heading_overridden = false; + if (free_start_heading_) { + // Local planner tự quay tại chỗ về hướng path trước khi bám (turn_around_priority), + // nên heading xuất phát không phải ràng buộc thật. Giữ nguyên nó thì khi goal nằm + // phía sau, SBPL sẽ vẽ cung quay đầu (U-turn) ở đầu path — chuỗi prim quay tại chỗ + // đắt hơn cung tiến nhiều lần theo costmult nên không bao giờ được chọn. Gán heading + // giả định hướng thẳng tới goal để path bắt đầu thẳng, phần xoay đầu do local planner lo. + const double dx = goal.pose.position.x - start.pose.position.x; + const double dy = goal.pose.position.y - start.pose.position.y; + // Goal quá gần (< ~2 cell): hướng tới goal hết ý nghĩa, dùng luôn heading của goal. + theta_start = (std::hypot(dx, dy) > 2.0 * costmap_robot_->getCostmap()->getResolution()) + ? atan2(dy, dx) + : theta_goal; + start_heading_overridden = true; + } + + try{ + int ret = env_->SetStart(start.pose.position.x - costmap_robot_->getCostmap()->getOriginX(), start.pose.position.y - costmap_robot_->getCostmap()->getOriginY(), theta_start); + if(ret < 0 || planner_->set_start(ret) == 0){ + robot::log_error("ERROR: failed to set start state\n"); + return false; + } + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL encountered a fatal exception while setting the start state"); + return false; + } + + try{ + int ret = env_->SetGoal(goal.pose.position.x - costmap_robot_->getCostmap()->getOriginX(), goal.pose.position.y - costmap_robot_->getCostmap()->getOriginY(), theta_goal); + if(ret < 0 || planner_->set_goal(ret) == 0){ + robot::log_error("ERROR: failed to set goal state\n"); + return false; + } + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL encountered a fatal exception while setting the goal state"); + return false; + } + + int offOnCount = 0; + int onOffCount = 0; + int allCount = 0; + vector changedcellsV; + + for(unsigned int ix = 0; ix < costmap_robot_->getCostmap()->getSizeInCellsX(); ix++) { + for(unsigned int iy = 0; iy < costmap_robot_->getCostmap()->getSizeInCellsY(); iy++) { + + unsigned char oldCost = env_->GetMapCost(ix,iy); + unsigned char newCost = costMapCostToSBPLCost(costmap_robot_->getCostmap()->getCost(ix,iy)); + + if(oldCost == newCost) continue; + + allCount++; + + //first case - off cell goes on + + if((oldCost != costMapCostToSBPLCost(robot_costmap_2d::LETHAL_OBSTACLE) && oldCost != costMapCostToSBPLCost(robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) && + (newCost == costMapCostToSBPLCost(robot_costmap_2d::LETHAL_OBSTACLE) || newCost == costMapCostToSBPLCost(robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE))) { + offOnCount++; + } + + if((oldCost == costMapCostToSBPLCost(robot_costmap_2d::LETHAL_OBSTACLE) || oldCost == costMapCostToSBPLCost(robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) && + (newCost != costMapCostToSBPLCost(robot_costmap_2d::LETHAL_OBSTACLE) && newCost != costMapCostToSBPLCost(robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE))) { + onOffCount++; + } + env_->UpdateCost(ix, iy, costMapCostToSBPLCost(costmap_robot_->getCostmap()->getCost(ix,iy))); + + nav2dcell_t nav2dcell; + nav2dcell.x = ix; + nav2dcell.y = iy; + changedcellsV.push_back(nav2dcell); + } + } + + try{ + if(!changedcellsV.empty()){ + StateChangeQuery* scq = new LatticeSCQ(env_, changedcellsV); + planner_->costs_changed(*scq); + delete scq; + } + + if(allCount > force_scratch_limit_) + planner_->force_planning_from_scratch(); + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL failed to update the costmap"); + return false; + } + + //setting planner parameters + robot::log_debug("allocated:%f, init eps:%f\n",allocated_time_,initial_epsilon_); + planner_->set_initialsolution_eps(initial_epsilon_); + planner_->set_search_mode(false); + + robot::log_debug("[sbpl_lattice_planner] run planner"); + vector solution_stateIDs; + int solution_cost; + try{ + int ret = planner_->replan(allocated_time_, &solution_stateIDs, &solution_cost); + if(!ret && start_heading_overridden){ + // Heading giả định có thể không khả thi (vd hướng tới goal đâm thẳng vào tường + // ngay tại cell xuất phát) — thử lại MỘT lần với heading thật trước khi bỏ cuộc. + robot::log_warning("[sbpl_lattice_planner] no solution with free start heading, " + "retrying with actual robot heading"); + int sid = env_->SetStart(start.pose.position.x - costmap_robot_->getCostmap()->getOriginX(), + start.pose.position.y - costmap_robot_->getCostmap()->getOriginY(), + theta_start_actual); + if(sid >= 0 && planner_->set_start(sid) != 0){ + ret = planner_->replan(allocated_time_, &solution_stateIDs, &solution_cost); + } + } + if(ret) + robot::log_debug("Solution is found\n"); + else{ + robot::log_info("Solution not found\n"); + // publishStats(solution_cost, 0, start, goal); + return false; + } + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL encountered a fatal exception while planning"); + return false; + } + + robot::log_debug("size of solution=%d", (int)solution_stateIDs.size()); + + vector sbpl_path; + try{ + env_->ConvertStateIDPathintoXYThetaPath(&solution_stateIDs, &sbpl_path); + } + catch(SBPL_Exception *e){ + robot::log_error("SBPL encountered a fatal exception while reconstructing the path"); + return false; + } + if (start_heading_overridden && sbpl_path.size() > 1) { + // free_start_heading nhắm heading giả định thẳng tới goal; nếu hướng đó bị chặn, + // path vẫn mở đầu bằng cung rẽ từ heading giả định sang hướng đi thật. Yêu cầu vận + // hành là đoạn đầu path phải THẲNG (robot quay tại chỗ xong là bám thẳng), nên nếu + // phát hiện đoạn đầu cong thì căn lại heading xuất phát theo hướng đi thật của path + // rồi plan lại đúng MỘT lần (không lặp — lần hai đã xuất phát đúng hướng đi thật + // nên primitive thẳng là lựa chọn rẻ nhất). + constexpr double kStraightLeadCheckM = 0.5; // [m] cửa sổ kiểm tra độ thẳng đoạn đầu + constexpr double kMaxLeadHeadingDevRad = 0.2; // [rad] ~ nửa bước góc lưới 16 hướng + double lead_len = 0.0; + double max_dev = 0.0; + size_t iend = 1; + for (; iend < sbpl_path.size() && lead_len < kStraightLeadCheckM; ++iend) { + lead_len += std::hypot(sbpl_path[iend].x - sbpl_path[iend - 1].x, + sbpl_path[iend].y - sbpl_path[iend - 1].y); + max_dev = std::max(max_dev, std::fabs(std::remainder( + sbpl_path[iend].theta - sbpl_path[0].theta, 2.0 * M_PI))); + } + if (max_dev > kMaxLeadHeadingDevRad) { + // Tìm HƯỚNG ĐI THẬT của route: đoạn thẳng đầu tiên trên path (heading giữ nguyên + // liên tục >= kStraightRunM). Với U-turn dài hơn cửa sổ 0.5m, mốc cố định sẽ rơi + // vào giữa cung — phải quét qua hết phần cong. Đoạn thẳng mở đầu đi theo hướng + // route tìm được, KHÔNG ép theo hướng tới goal (goal chỉ là seed cho lần plan đầu). + constexpr double kStraightRunM = 0.3; // [m] độ dài tối thiểu để tính là đoạn thẳng + constexpr double kScanLimitM = 3.0; // [m] giới hạn quét phần cong mở đầu + double theta_realign = sbpl_path[iend - 1].theta; // fallback: heading sau cửa sổ đầu + double scanned = 0.0; + for (size_t i = 0; i + 1 < sbpl_path.size() && scanned < kScanLimitM; ++i) { + double run = 0.0; + bool straight = true; + for (size_t j = i + 1; j < sbpl_path.size() && run < kStraightRunM; ++j) { + run += std::hypot(sbpl_path[j].x - sbpl_path[j - 1].x, + sbpl_path[j].y - sbpl_path[j - 1].y); + if (std::fabs(std::remainder(sbpl_path[j].theta - sbpl_path[i].theta, + 2.0 * M_PI)) > 1e-3) { + straight = false; + break; + } + } + if (straight && run >= kStraightRunM) { + theta_realign = sbpl_path[i].theta; + break; + } + scanned += std::hypot(sbpl_path[i + 1].x - sbpl_path[i].x, + sbpl_path[i + 1].y - sbpl_path[i].y); + } + robot::log_debug("[sbpl_lattice_planner] initial segment curved (dev %.2f rad), " + "replanning with start heading realigned to %.2f", max_dev, theta_realign); + try{ + int sid = env_->SetStart(start.pose.position.x - costmap_robot_->getCostmap()->getOriginX(), + start.pose.position.y - costmap_robot_->getCostmap()->getOriginY(), + theta_realign); + vector realigned_ids; + int realigned_cost; + if(sid >= 0 && planner_->set_start(sid) != 0 && + planner_->replan(allocated_time_, &realigned_ids, &realigned_cost)){ + vector realigned_path; + env_->ConvertStateIDPathintoXYThetaPath(&realigned_ids, &realigned_path); + if(!realigned_path.empty()){ + sbpl_path = realigned_path; + } + } + } + catch(SBPL_Exception *e){ + // giữ path đầu tiên — cong nhưng vẫn hợp lệ, không được trả thất bại ở đây + robot::log_warning("[sbpl_lattice_planner] realigned replan failed, keeping first path"); + } + } + } + + // if the plan has zero points, add a single point to make move_base happy + if( sbpl_path.size() == 0 ) { + EnvNAVXYTHETALAT3Dpt_t s( + start.pose.position.x - costmap_robot_->getCostmap()->getOriginX(), + start.pose.position.y - costmap_robot_->getCostmap()->getOriginY(), + theta_start); + // sbpl_path.push_back(s); + } + + robot::log_debug("Plan has %d points.\n", (int)sbpl_path.size()); + robot::Time plan_time = robot::Time::now(); + + // if (publish_footprint_path_) + // { + // robot_visualization_msgs::Marker sbpl_plan_footprint; + // getFootprintList(sbpl_path, costmap_robot_->getGlobalFrameID(), sbpl_plan_footprint); + // sbpl_plan_footprint_pub_.publish(sbpl_plan_footprint); + // } + + //create a message for the plan + // nav_msgs::Path gui_path; + // gui_path.poses.resize(sbpl_path.size()); + // gui_path.header.frame_id = costmap_robot_->getGlobalFrameID(); + // gui_path.header.stamp = plan_time; + for(unsigned int i=0; igetGlobalFrameID(); + + pose.pose.position.x = sbpl_path[i].x + costmap_robot_->getCostmap()->getOriginX(); + pose.pose.position.y = sbpl_path[i].y + costmap_robot_->getCostmap()->getOriginY(); + pose.pose.position.z = start.pose.position.z; + + // tf2::Quaternion temp; + // temp.setRPY(0,0,sbpl_path[i].theta); + // pose.pose.orientation.x = temp.getX(); + // pose.pose.orientation.y = temp.getY(); + // pose.pose.orientation.z = temp.getZ(); + // pose.pose.orientation.w = temp.getW(); + pose.pose.orientation = data_convert::getQuaternion(sbpl_path[i].theta); + + plan.push_back(pose); + + // gui_path.poses[i] = plan[i]; + } + // plan_pub_.publish(gui_path); + // publishStats(solution_cost, sbpl_path.size(), start, goal); + + return true; +} + +void SBPLLatticePlanner::getFootprintList(const std::vector& sbpl_path, + const std::string& path_frame_id, robot_visualization_msgs::Marker& ma) +{ + ma.header.frame_id = path_frame_id; + ma.header.stamp = robot::Time(); + ma.ns = "sbpl_robot_footprint"; + ma.id = 0; + ma.type = robot_visualization_msgs::Marker::LINE_LIST; + ma.action = robot_visualization_msgs::Marker::ADD; + ma.scale.x = 0.05; + ma.color.a = 1.0; + ma.color.r = 0.0; + ma.color.g = 0.0; + ma.color.b = 1.0; + ma.pose.orientation.w = 1.0; + + for (unsigned int i = 0; i < sbpl_path.size(); i = i + visualizer_skip_poses_) + { + std::vector transformed_rfp; + robot_geometry_msgs::Pose robot_pose; + robot_pose.position.x = sbpl_path[i].x + costmap_robot_->getCostmap()->getOriginX(); + robot_pose.position.y = sbpl_path[i].y + costmap_robot_->getCostmap()->getOriginY(); + robot_pose.position.z = 0.0; + + robot_pose.orientation = data_convert::getQuaternion(sbpl_path[i].theta); + transformFootprintToEdges(robot_pose, footprint_, transformed_rfp); + + for (auto & point : transformed_rfp) + ma.points.push_back(point); + } +} + +void SBPLLatticePlanner::transformFootprintToEdges(const robot_geometry_msgs::Pose& robot_pose, + const std::vector& footprint, + std::vector& out_footprint) +{ + out_footprint.resize(2 * footprint.size()); + double yaw = data_convert::getYaw(robot_pose.orientation); + for (unsigned int i = 0; i < footprint.size(); i++) + { + out_footprint[2 * i].x = robot_pose.position.x + cos(yaw) * footprint[i].x - sin(yaw) * footprint[i].y; + out_footprint[2 * i].y = robot_pose.position.y + sin(yaw) * footprint[i].x + cos(yaw) * footprint[i].y; + if (i == 0) + { + out_footprint.back().x = out_footprint[i].x; + out_footprint.back().y = out_footprint[i].y; + } + else + { + out_footprint[2 * i - 1].x = out_footprint[2 * i].x; + out_footprint[2 * i - 1].y = out_footprint[2 * i].y; + } + } +} +// Export factory function +robot_nav_core::BaseGlobalPlanner::Ptr SBPLLatticePlanner::create() { + return std::make_shared(); +} + + +}; + +// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias) +BOOST_DLL_ALIAS(sbpl_lattice_planner::SBPLLatticePlanner::create, SBPLLatticePlanner)